Open intelligent robot controller based on field-bus and RTOS

Abstract

Robot controller is one of the key facts affecting performance of robot. To meet the requirements of theoretical and application research, a mobile robot controller based on CAN Bus and Real-time Operating System (RTOS) is presented. In hardware aspect, a distributed architecture is achieved using CAN Bus and Bluetooth technology. Each module of the controller is integrated into a multi-agent based architecture, and is implemented in RTOS in software aspect. A comprehensive illustration of ATU-II mobile robot platform based on the proposed controller is presented and two experiments of ATU-II verify its performance. © 2007 Springer-Verlag Berlin Heidelberg.