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Advantage of Open Architecture for Modular Mobile Robotic Platform in Research of Complex Control Algorithms

This paper presents the open hierarchical architecture of mobile robot realized at the Faculty of Electrical Engineering, University of Sarajevo. The basic idea during development was to enable simple implementation of algorithms for control of mobile robot, without large interventions on hardware, and to avoid complex software implementation of algorithms. MATLAB was used as basic development tool at the highest hierarhical level, considering its flexibility, as well as numerous high-level functions offered by MATLAB. As an illustration, the results achieved in development of fuzzy algorithm for navigation of mobile robot in unknown environment with obstacle avoidance, and the simplicity of its interactive modification will be demonstrated.