A Proposal for a Hybrid Opened Architecture with Hardware Reconfigurable Control Applied in Mobile Robots

Abstract

With the fast innovation of the hardware and software technologies in embedded systems area, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and increments in the original projected system. In this way, this article presents a system of opened architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embedded systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. Is presented the functional blocks where the use of DSP processor board is illustrated for local control level. The supervisory control level is implemented in an IBM PC platform and is connected with the local control level, in the robot, through Ethernet WI-FI link. Also are seen the control blocks that use reprogrammable logic components (FPGA) hardware projected for sensors fusion control interface and actuators controllers and the study and applications of new structures control that possibility good performance in relation to the parameter variations. The sensors, actuators, RF transceiver unit, and others necessary peripheral components for the project implementation with their implementation blocks are listed in the article.

Simulador Virtual para Sistema de Navegação Autônoma de Robôs Móveis Utilizando Conceitos de Prototipagem Rápida de Controle

“…O terceiro é o bloco do modelo cinemático. Esta estruturação modular é ilustrada na Figura 12 onde pode-se observar as variáveis de entrada e saída do sistema (MELO; ROSÁRIO, 2006). Dentro do bloco do sistema de robô móvel temse o subsistema ilustrado pela Figura 12.…”

Rapid Prototyping for Mobile Robots Embedded Control Systems

“…This system is particularly interesting and can be used, for example, in robotic soccer games, where the navigation strategies are made from images of the environment (soccer field) and the obstacles are the other robots players. As it's described follow, with this system, the best trajectory can be defined and traced, respecting always the kinematics holonomics or nonholonomics constraints of the robotic systems in question, and to make all the simulation of the system foreseeing imperfections and analyzing results before the final implementation of the control system in the mobile robot (Melo & Rosario, 2006).…”

“…HIL simulations provide a platform accomplish of development for adding the complexity of the plant under control to the tests platform. The control system is enclosed in the tests and developments through its mathematical models representations and all the respective dynamic model (Melo & Rosario, 2006). The Fig.…”

Virtual Simulator for Design of Mobile Robot Control and Navigation Systems

“…As it's described follow, with this system, the best trajectory can be defined and traced, respecting always the kinematics holonimics or nonholonomics constraints of the robotic systems in question, and to make all the simulation of the system foreseeing imperfections and analyzing results before the final implementation of the control system in the mobile robot (Melo & Rosario, 2006).…”

“…HIL simulations provide a platform accomplish of development for adding the com- plexity of the plant under control to the tests platform. The control system is enclosed in the tests and developments through its mathematical models representations and all the respective dynamic model (Melo & Rosario, 2006). The Fig.…”