| Title |
Networked Control System for Self-Balancing Robot based on Public Cloud |
| Authors |
구세완(Sewan Gu) ; 윤동원(Dongweon Yoon) |
| DOI |
https://doi.org/10.5370/KIEEP.2022.71.3.169 |
| Keywords |
Networked Control System; Self-Balancing Robot; Public Cloud; ROS2; Container; Docker; Kubernetes; Google Cloud Platform |
| Abstract |
In a networked control system, a controlled model and a controller are remotely operated via network communication. In this paper, we propose a public cloud-based real-time networked control system and demonstrate the feasibility of its real-time control performance by building a self-balancing robot and conducting experiments with it. We first build the self-balancing robot as the controlled model and implement the controller into a docker container for the networked control system. In addition, we utilize the google cloud platform as the computing and networking resources to establish Kubernetes platform, which operates the control system. Through the experiments, we show the self-balancing robot is controlled and maintains its balance in the cloud-based networked control system. |