A Mobile Mini-Robot Architecture for Research, Education and Popularization of Science

• Autorzy: Pedre S. , De Cristóforis P. , Caccavelli J. , Stoliar A.
• Języki publikacji: EN

Abstrakty

EN

Mobile mini-robots are commonly used for research, education and popularization of science. Often, commercially available mini-robots don't quite fit the characteristics needed for a particular task, and are difficult to adapt since they have proprietary software and hardware. Moreover, they are often quite expensive. In this work we present a relatively low-cost, reconfigurable robot equipped with a wide variety of sensors and enough processing power to allow the on-board execution of intelligent algorithms. We present the complete hardware architecture, and a modularized software architecture that makes full use of hardware interruptions and software processes to have a perfectly timed control of the robot. All these characteristics make the new mobile mini robot ExaBot a very malleable, multi task mini-robot.

Słowa kluczowe

EN

mobile minirobot; reconfigurable hardware architecture; interrupt based software architecture; research and education robot platform

• Wydawca: Społeczna Akademia Nauk w Łodzi
• Czasopismo: Journal of Applied Computer Science Methods
• Rocznik: 2010
• Tom: Vol. 2 No. 1
• Strony: 41--59
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Pedre S.

• Departamento de Computacióon, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires Buenos Aires, Argentina

autor

De Cristóforis P.

• Departamento de Computacióon, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires Buenos Aires, Argentina

autor

Caccavelli J.

• Departamento de Computacióon, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires Buenos Aires, Argentina

autor

Stoliar A.

• Departamento de Computacióon, Facultad de Ciencias Exactas y Naturales, Universidad de Buenos Aires Buenos Aires, Argentina

Bibliografia

• 1. Khepera, Khepera II and Khepera III, K-Team, http://www.k-team.com
• 2. Mindstorms, Lego, http://mindstorms.lego.com
• 3. Traxster Kit, http://www.roboticsconnection.com/p-15-traxster-robot-kit.aspx.
• 4. TS-7250 datasheet, http://www.embeddedarm.com/ epc/ts7250-spec-h.html.
• 5. PIC18F4680 datasheet, http://ww1.microchip.com/downloads/en/DeviceDoc/ 39625c.pdf
• 6. Sharp GP2Y0A21YK0F Distance Measuring Sensor datasheet, http://www.pololu.com/_le/ download/gp2y0a21yk0f.pdf?_le id=0J85
• 7. Devanatech SRF05 Ultrasonic Ranger documentation, http://www.robot-electronics.co.uk/htm/ srf05tech.htm.
• 8. PIC18F2431 datasheet, http://www.datasheetcatalog.org/datasheet/microchip/ 39616b.pdf
• 9. L298 IC driver datasheet, http://www.st.com/stonline/books/pdf/docs/1773.pdf
• 10. ACS712 sensor current 5A 5V datasheet, http://www.allegromicro.com/en/ Products/Part Numbers/0712/0712.pdf
• 11. LM319 IC comparator, http://www.fairchildsemi.com/ds/LM/LM319.pdf