A DISTRIBUTED HARDWARE-SOFTWARE ARCHITECTURE FOR CONTROL AN AUTONOMOUS MOBILE ROBOT

Ricardo S. Britto, Andre M. Santana, Anderson A. S. Souza, Adelardo A. D. Medeiros, Pablo J. Alsina

2008

Abstract

In this paper, we introduce a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The Kapeck robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller-based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontroller-based boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks.

Paper Citation

in Harvard Style

S. Britto R., M. Santana A., A. S. Souza A., A. D. Medeiros A. and J. Alsina P. (2008). A DISTRIBUTED HARDWARE-SOFTWARE ARCHITECTURE FOR CONTROL AN AUTONOMOUS MOBILE ROBOT . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 169-174. DOI: 10.5220/0001498401690174

in Bibtex Style

@conference{icinco08,
author={Ricardo S. Britto and Andre M. Santana and Anderson A. S. Souza and Adelardo A. D. Medeiros and Pablo J. Alsina},
title={A DISTRIBUTED HARDWARE-SOFTWARE ARCHITECTURE FOR CONTROL AN AUTONOMOUS MOBILE ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={169-174},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001498401690174},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - A DISTRIBUTED HARDWARE-SOFTWARE ARCHITECTURE FOR CONTROL AN AUTONOMOUS MOBILE ROBOT
SN - 978-989-8111-31-9
AU - S. Britto R.
AU - M. Santana A.
AU - A. S. Souza A.
AU - A. D. Medeiros A.
AU - J. Alsina P.
PY - 2008
SP - 169
EP - 174
DO - 10.5220/0001498401690174