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Embedded computer control system for service mobile robots


Gojić, Marko; Brezak, Mišel; Petrović, Ivan
Embedded computer control system for service mobile robots // MIPRO 2011 - Proceedings Vol. III. CTS & CIS
Opatija, 2011. str. 66-71 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Embedded computer control system for service mobile robots

Autori
Gojić, Marko ; Brezak, Mišel ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
MIPRO 2011 - Proceedings Vol. III. CTS & CIS / - Opatija, 2011, 66-71

Skup
34th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2011)

Mjesto i datum
Opatija, Hrvatska, 23-27.05.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile robots; embedded systems; control

Sažetak
This paper describes design concept of an embedded computer system for service mobile robots. The system is made modular so there are several different modules that are used to control different subsystems of the robot. There are power management module, sonar management module with twelve ultrasonic sensors, motor control module and module for charging batteries which is part of a docking station. The design of all modules is based on PIC 16F mid-range microcontroller family and they are connected via I2C system bus. To connect modules to the main computer, another module is developed, which connects the RS232 port of the main computer to I2C system bus. The main computer is master device on this bus and the modules are slave devices. For testing purposes the main computer is ordinary notebook and the simple test application is developed so the whole system can be controlled with it. Simple protocol is designed for communication and its format is also described in this paper.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb