08. Chugunov M.V., Polunina I.N., Divin A.G., et al. Integrated Mobile Robotic Platform Model

DOI: 10.15507/2658-4123.031.202104.609-627

Integrated Mobile Robotic Platform Model

Mikhail V. Chugunov
Head of the Chair of Design and Technology Informatics of Ruzaevka Institute of Mechanical Engineering, National Research Mordovia State University (68 Bolshevistskaya St., Saransk 430005, Russian Federation), Cand.Sci. (Engr.), Associate Professor, ORCID: https://orcid.org/0000-0001-5318-5684, Researcher ID: H-7452-2018, This email address is being protected from spambots. You need JavaScript enabled to view it.

Irina N. Polunina
Associate Professor of the Chair of Design and Technology Informatics of Ruzaevka Institute of Mechanical Engineering, National Research Mordovia State University (68 Bolshevistskaya St., Saransk 430005, Russian Federation), Cand.Sci. (Ped.), ORCID: https://orcid.org/0000-0002-1093-8401, Researcher ID: H-7473-2018, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander G. Divin
Professor of the Chair of Mechatronics and Technological Measurement, Tambov State Technical University (106 Sovetskaya St., Tambov 392000, Russian Federation), Dr.Sci (Engr.),, ORCID: https://orcid.org/0000-0001-7578-0505, Researcher ID: G-5718-2017, This email address is being protected from spambots. You need JavaScript enabled to view it.

Aleksandra A. Generalova
Associate Professor the Chair of Transport Machinery, Penza State University (40 Krasnaya St., Penza 440026, Russian Federation), Cand.Sci. (Engr.), ORCID: https://orcid.org/0000-0002-3900-619X, Researcher ID: AAS-6867-2021, This email address is being protected from spambots. You need JavaScript enabled to view it.

Artem A. Nikulin
Postgraduate Student of the Chair of Transport Machinery, Penza State University (40 Krasnaya St., Penza 440026, Russian Federation), ORCID: https://orcid.org/0000-0003-1834-6053, This email address is being protected from spambots. You need JavaScript enabled to view it.

Dmitriy S. Bychkov
Postgraduate Student of the Chair of Transport Machinery, Penza State University (40 Krasnaya St., Penza 440026, Russian Federation), ORCID: https://orcid.org/0000-0003-1648-2289, Researcher ID: AAS-5799-2021, This email address is being protected from spambots. You need JavaScript enabled to view it.

Abstract
Introduction. The “Smart Agroˮ committee of Research and Education Center “Engineering of the Future” has identified a number of tasks relevant for improving the efficiency of precision, soil-protecting and conservation agriculture. One of these tasks is the development of a digital multi-agent system, which provides a number of services for agricultural enterprises, developers and manufacturers of agricultural machinery. The purpose of the present study is to model an autonomous mobile robotic platform, including the development of software and hardware for trajectory control.
Materials and Methods. To solve the problem, there are used modern CAx systems and their applications, the methods of 3D and full-body modeling, and the method of numerical solution of problems in solid mechanics. To expand and improve the standard functionality of CAx-systems (SolidWorks) in the software implementation of trajectory control algorithms, the methods and technologies of programming using API SolidWorks, VisualStudio C++ (MFC, ATL, COM) are used, and to build physical full-scale models ‒ Arduino and fischertechnik platforms.
Results. The result of the study is a software and hardware module of trajectory control for an integrated (physical and virtual) model of a mobile robotic platform, which can be provided to the consumer as a service for technology autonomation. For the developed integrated model, control algorithms for various types of trajectories were tested.
Discussion and Conclusion. The developed integrated software and hardware model of trajectory control can be used by developers and manufacturers of agricultural machinery, and directly by agro-enterprises for implementing typical technological processes. A feature of the implementation is an open hardware and software interface that provides the integration of mobile robotic platforms based on a digital multi-agent system.

Keywords: robotic transport and technology system, CAD/CAE, technology autonomation, physical and virtual models, trajectory control, parametric design, digital multiagent template

Acknowlegments: The authors would like to thank the anonymous reviewers, as well as the management and moderators of the Research and Education Center “Engineering of the Future” for their assistance in the preparation of the project.

The authors declare no conflict of interest.

For citation: Chugunov M.V., Polunina I.N., Divin A.G., et al. Integrated Mobile Robotic Platform Model. Inzhenernyye tekhnologii i sistemy = Engineering Technologies and Systems. 2021; 31(4):609-627. doi: https://doi.org/10.15507/2658-4123.031.202104.609-627

Contributions of the authors:
M. V. Chugunov – concept and structure of the project, development of traffic models and the application framework.
I. N. Polunina – 3D modeling of parts and assemblies, software development.
A. G. Divin – development of mathematical models and algorithms.
A. A. Generalova – development of the field model.
A. A. Nikulin – numerical experiments.
D. S. Bychkov – conducting field experiments.

All authors have read and approved the final manuscript.

Submitted 28.06.2021; approved after reviewing 10.08.2021;
accepted for publication 17.09.2021

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