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

摘要

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.