Distributed control architecture for the autonomous mobile platform

Abstract

This paper presents a proof of the concept of distributed control architecture dedicated for the Autonomous Mobile Platform. The greatest advantage of the proposed solution is its scalability, which enables the application of advanced control algorithms that are based on multiple sensors that supply information to multiple processing units. The key is a highly effective on-board communication system. The proposed method is based on Serial Peripheral Interface SPI communication that joins the STM32 and Raspberry Pi processing units, which share the tasks of processing the signals that are necessary for AMP control. The proposed architecture and test results for on-board communication performance are presented.