{"id":6705,"date":"2026-02-22T22:10:51","date_gmt":"2026-02-22T22:10:51","guid":{"rendered":"https:\/\/izvestiyakbncran.ru\/?page_id=6705"},"modified":"2026-03-06T09:57:17","modified_gmt":"2026-03-06T09:57:17","slug":"28-1-7-en","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/28-1-7-en\/","title":{"rendered":"28.1.7 En"},"content":{"rendered":"\n

Architecture for two-level mobile robot control system for warehouse logistics<\/strong><\/h1>\n\n\n\n

V.V. Shukhin, Z.L. Khakimov, M. A. Labazanov<\/strong><\/p>\n\n\n\n

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Upload the full text<\/strong><\/strong><\/p>\n\n\n\n

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Abstract<\/strong>:<\/strong> <\/em>The relevance of this work is driven by the growth of the warehouse robotics market and the need to combine intelligent functions with precise, deterministic control. A two-tier architecture for an autonomous mobile robot control system is proposed, separating cognitive (NVIDIA Jetson Orin Nano, ROS 2) and executive (STM32H743ZI, FreeRTOS) functions. A specialized data exchange protocol with integrity monitoring is developed. The proposed architecture ensures balanced distribution of the computational load and can be used to create high-precision mobile platforms for warehouse applications.
Aim<\/strong>. The research is to develop and mathematically justify such an architecture, evaluate its ultimate performance, and demonstrate its advantages through a comparative analysis with existing approaches.
Research methods<\/strong>. The following research methods are used in this study: <\/p>\n\n\n\n

1. Mathematical modeling and calculations \u2013 formalization of models for assessing positioning accuracy using an extended Kalman filter, calculation of system timing parameters, and the probability of data transmission errors. <\/p>\n\n\n\n

2. Simulation modeling \u2013 system verification in ROS 2 and Gazebo, assessment of dynamic accuracy and response time.<\/p>\n\n\n\n

3. Algorithmic design \u2013 development of cascade PID controllers for motor control and an exchange protocol between architecture levels.<\/p>\n\n\n\n

4. Comparative analysis \u2013 comparison of the characteristics of the proposed system with commercial analogues (MiR250, Fetch Freight 1500).<\/p>\n\n\n\n

5. Experimental evaluation \u2013 Monte Carlo simulation to determine the root mean square positioning error, energy consumption and autonomy analysis.
Results<\/strong>. This paper presents an innovative two-tier architecture for an autonomous mobile robot (AMR) control system for warehouse logistics. The architecture divides the computational load between a high-level controller based on a NVIDIA Jetson Orin Nano single-board computer (4 GB) running the ROS 2 Humble operating system and a low-level controller based on an STM32H743ZI microprocessor (ARM Cortex-M7 core, 550 MHz) running the FreeRTOS RTOS. The high-level controller handles navigation using SLAM algorithms (based on the Ouster OS0-32 lidar) and global path planning, while the low-level controller provides precision motor control via cascaded PID controllers and data processing from Renishaw RESOLUTE absolute encoders with 26-bit resolution. This paper presents the developed binary communication protocol with integrity checking (CRC-16-CCITT), formalizes mathematical models for calculating positioning accuracy, and identifies critical timing parameters of the system. The estimated low-level control cycle time is 1 ms, and the average interprocess communication latency is 3.5 ms. The system demonstrates a theoretical positioning accuracy of \u00b12.1 mm using odometry and lidar sensor fusion. Simulation results indicate the feasibility of processing up to 15 target tasks per minute in a typical 10×10 m warehouse cell.
Conclusion<\/strong>. The proposed architecture represents a balanced solution combining high performance, determinism, and relative affordability, making it a promising foundation for the next generation of research and commercial warehouse AMRs.<\/p>\n\n\n\n

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Keywords<\/strong>:<\/em><\/strong> autonomous mobile robot, warehouse logistics, distributed control system, ROS 2, FreeRTOS, sensor fusion, PID controller, absolute encoders<\/p>\n\n\n\n

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For citation<\/strong>.<\/strong> Shukhin V.V., Khakimov Z.L., Labazanov M.A. Architecture for two-level mobile robot control system for warehouse logistics. News of the Kabardino-Balkarian Scientific Center of RAS. 2026. Vol. 28. No. 1. Pp. 102\u2013116. DOI: 10.35330\/1991-6639-2026-28-1-102-116<\/p>\n\n\n\n

\u00a9   Shukhin V.V., Khakimov Z.L., Labazanov M.A., 2026<\/p>\n\n\n\n

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Content is available under license Creative Commons Attribution 4.0 License<\/a><\/p>\n<\/div>\n\n\n\n

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R<\/strong>eferences<\/summary>\n
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  2. Uglovsky A.S. Motion control system of a mobile robot. Bulletin of the Agroindustrial Complex of the Upper Volga Region. 2024. \u2116 2(66). Pp. 98\u2013108. DOI: 10.35694\/YARCX.2024.66.2.013. EDN: WFPSEJ. (In Russian)<\/li>\n\n\n\n
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  4. Kraev R.V., Belozerskikh V.V. SLAM concept for optimizing the model ofsoftware control of robot movement on a map with control points. High-Performance Computing Systems and Technologies. 2020. Vol. 4. No. 2. Pp. 59\u201365. EDN: JRQBHN. (In Russian)<\/li>\n\n\n\n
  5. Berkaev A.R., Nenashev A.A., Klyuchikov A.V. Development of a mobile localization and positioning system. Mathematical Methods in Engineering and Technology \u2013 MMTT. 2020. Vol. 12-3. Pp. 152\u2013157. EDN: QDGESL. (In Russian)<\/li>\n\n\n\n
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  7. Alkhalili A.S., Lukyanov E.A. Motion control of a wheeled mobile robot based on simulation modeling. Bulletin of BSTU named after V.G. Shukhov. 2022. No. 8. Pp. 112\u2013121. EDN: XJSZPY. (In Russian)<\/li>\n\n\n\n
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  9. Bezmen P.A. Kalman filter algorithm for data aggregation in a mobile robot control system. Fundamental and Applied Problems of Engineering and Technology. 2019. \u2116 3(335). Pp. 82\u201387. EDN: AYKMKS. (In Russian)<\/li>\n\n\n\n
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  11. Shahbazi M. Machine learning-based approaches for obstacle detection and avoidance in autonomous vehicles: A review. Expert Systems with Applications. 2021. 172:114535. DOI: 10.1016\/j.eswa.2021.114535<\/li>\n\n\n\n
  12. Malov D.A., Edemsky A.Yu., Savelyev A.I. Development of a system for proactive localization of cyberphysical space based on machine learning methods. Information Technologies and Computing Systems. 2018. No. 4. Pp. 72\u201383. DOI: 10.14357\/20718632180408. EDN: MIDRAT. (In Russian)<\/li>\n\n\n\n
  13. Gorkavyy M.A., Gorkavyy A.I., Melnichenko M.A. Optimization of a robotic technological process based on a neural network simulation model of energy consumption. Izvestia of Higher Educational Institutions. Electromechanics. 2023. Vol. 66. No. 2. Pp. 85\u201395. DOI: 10.17213\/0136-3360-2023-2-85-95. EDN: WYKEWQ. (In Russian)<\/li>\n\n\n\n
  14. Lopota A.V., Spassky B.A. Mobile ground-based robotic complexes for professional use. Robotics and Technical Cybernetics. 2020. Vol. 8, No. 1. Pp. 5\u201317. DOI: 10.31776\/RTCJ.8101. EDN: JAQTQG. (In Russian)<\/li>\n\n\n\n
  15. Veselov G.E., Lebedev B.K., Lebedev O.B. Motion control of a group of mobile robots in a column. Informatization and Communications. 2021. No. 3. Pp. 7\u201311. DOI: 10.34219\/2078-8320-2021-12-3-7-11. EDN: LDISYZ. (In Russian)<\/li>\n<\/ol>\n<\/details>\n\n\n\n
    Information about the author<\/strong>s<\/summary>\n
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    Vladimir V. Shukhin<\/strong>, Candidate of Technical Sciences, Associate Professor, Department of Automation of Technological Processes and Production, Grozny State Oil Technical University named after academician M.D. Millionshchikov;
    100, Isaev avenue, Grozny, 364051, Russia;
    shukhin86@bk.ru, ORCID: https:\/\/orcid.org\/0009-0003-0273-0058, SPIN-code: 2895-3434
    Zaur L. Khakimov<\/strong>, Candidate of Technical Sciences, Associate Professor, Department of Automation of Technological Processes and Production, Grozny State Oil Technical University named after academician M.D. Millionshchikov;
    100, Isaev avenue, Grozny, 364051, Russia;
    deffender_95@mail.ru, ORCID: https:\/\/orcid.org\/0009-0007-1665-8631, SPIN-code: 3540-6580
    Magomed A. Labazanov<\/strong>, Senior Lecturer, Department of Automation of Technological Processes and Production, Grozny State Oil Technical University named after academician M.D. Millionshchikov;
    100, Isaev avenue, Grozny, 364051, Russia;
    labazanov.90@inbox.ru, ORCID: https:\/\/orcid.org\/0009-0005-9714-5146, SPIN-code: 5981-5217<\/p>\n\n\n\n

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    Funding<\/strong><\/summary>\n

    The study was performed without external funding.<\/p>\n<\/details>\n\n\n\n

    <\/p>\n","protected":false},"excerpt":{"rendered":"

    Architecture for two-level mobile robot control system for warehouse logistics V.V. Shukhin, Z.L. Khakimov, M. A. Labazanov Upload the full text Abstract: The relevance of this work is driven by the growth of the warehouse robotics market and the need to combine intelligent functions with precise, deterministic control. A two-tier architecture for an autonomous mobile […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"wp-custom-template-home","meta":{"footnotes":""},"class_list":["post-6705","page","type-page","status-publish","hentry"],"yoast_head":"\n28.1.7 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/28-1-7-en\/\" \/>\n<meta property=\"og:locale\" content=\"ru_RU\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"28.1.7 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"og:description\" content=\"Architecture for two-level mobile robot control system for warehouse logistics V.V. 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