Autonomous mobile robot with multiprocessor control system

摘要

The present technological trends in microelectronic, sensor and computing techniques make possible intensive research and development in the large area of applications. One of the most progressive area is the development of autonomous mobile robots. This paper deals with the multiprocessor control system design for experimental autonomous mobile robot (ALR) VUTBOT-2 fir automatic attendance of manufacturing system, on which all of the experiments will be done for local and global navigation, too. Multiprocessor control systems that are characterised with high independency compose very important area of automation resources. Maintenance of the multiprocessor system priority requires fast, safe and reliable communication channel. Based on these requirements was used the CAN communication device. That control system enables nondeterministic control in real-time. The matching rate and access method of communication system is adapted to this. The mobile robot control system is segmented into several functional blocks using communication channel by which the necessary information is transferred: communication module, sensor module, locomotive module, control module.