Tracked Robot Control Interface for Seamless Drive-Mode Switching
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Solution Overview
Problem
Existing interfaces between control computers and ground robots are limited in their capabilities, often supporting only a single drive-control method and are not optimized for tracked vehicles, which can utilize multiple drive-control methods and differential track control.
Innovation Solution
A robotic platform interface that supports multiple drive-control methods, allowing seamless switching between them, including torque, aided torque, speed, heading, and waypoint control, while ensuring only one control computer can actively control the robot at a time, using a discovery signal for communication and priority-based control handover.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single drive-control method is used in the interface, then the interface is simple to implement, but the adaptability to different tracked vehicle control needs is limited
Solution Approach 1:
The interface is designed to support multiple drive-control methods (differential torque, speed and steering, heading, waypoints) within a single unified structure. The system can dynamically switch between these methods based on operational requirements, making the interface universal rather than specialized for a single control mode.
Solution Approach 2:
The interface dynamically adjusts which drive-control method is active based on received messages from the control computer. The system transitions between different control methods during operation rather than being static, allowing adaptability while maintaining a consistent interface structure.
2Reliability
If multiple control computers can control the ground robot simultaneously, then collaboration is enabled, but control conflicts and instability occur
Solution Approach 1:
The system uses discovery signals and controller identifier messages as feedback mechanisms to monitor which control computer is currently active. This feedback loop ensures that only one computer controls the robot at a time, preventing conflicts while allowing multiple computers to potentially take control sequentially based on priority rules.
Solution Approach 2:
The system preemptively prevents control conflicts by implementing a priority-based control allocation mechanism. When a control computer attempts to connect, the system checks existing connections and prevents simultaneous control attempts, or resolves conflicts based on predefined priority rules before control instability can occur.
3Productivity
If the ground robot stops to switch between drive-control methods, then control accuracy is maintained, but productivity is reduced
Solution Approach 1:
The system enables continuous operation by allowing drive-control method transitions without stopping the ground robot. The interface maintains active control throughout the switching process, ensuring that the robot continues its useful action (movement or operation) while changing control methods dynamically.
4Speed
If discovery signals are sent frequently, then communication establishment is faster, but energy consumption increases
Solution Approach 1:
The ground robot emits discovery signals periodically at intervals rather than continuously or on-demand. This periodic transmission establishes communication efficiently when needed while reducing overall energy consumption compared to continuous signal emission, balancing speed of connection with energy conservation.
Data Source
AI summary
A technique of controlling a ground robot includes simultaneously operating both a first drive-control method and a second drive-control method in the ground robot. The first drive-control method actively controls the ground robot, the second drive-control method does not actively control the ground robot. At least one of the first drive-control method and the second drive-control method is configured to apply respective torques to left and right tracks of the ground robot. The technique further includes establishing communications between the ground robot and a control computer based on the ground robot emitting a discovery signal. In response to the ground robot receiving one or more messages from the control computer, the technique further includes actively controlling the ground robot using the second drive-control method in place of the first drive-control method.