Distributed Control System in Mobile Robot Application: General Approach, Realization and Usage

This article is aimed to give a general idea of how to organize robot control with a distributed network of embedded devices. It is an attempt to formulate simple concepts that will allow easier cooperation for team members during development. Suggested approach when properly described, understood and implemented is expected to form a good platform for concurrent individual software and hardware development and for educating new team members. Giving flexibility such an approach leads to convenient modular robot design. Realization of proposed approach is also introduced with a hardware version of embedded controller board, being the “heart” and the “brain” of any module on