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Hardware research of the autonomous mobile robot

Keywords:

D.S. Kurushin - Ph.D. (Eng.), Associate Professor, Perm National Research Polytechnic University. E-mail: daniel.kurushin@gmail.com D.V. Kondakov - The Master Student, Perm National Research Polytechnic University. E-mail: x8973@ya.ru E.V. Dolgova - Dr.Sc. (Econ.), Professor, Perm National Research Polytechnic University. E-mail: elena@dolgova.info


Let us assume that the mobile robotic complex (MRC) consists of a rear driven four-wheeled chassis, the control circuit traction motor, hydraulic brakes, and steerable front wheels. MRC is also equipped wit headlights, parking lights and other automotive lighting. The actuators require a complex control system to of management and control. It is difficult to create a system based on a microcontroller. In this regard, it was proposed to use a block configuration of the work properly. All units of this system should be unified. The system has a network for data exchange. The function of control is entrusted to a microcomputer, which plays the role of «master» in the master-slave type data exchange model. Each unit has the ability to connect to a data network and toprocess a set of commands that it is programmed to. In the article the block diagram of the execution unit is provided and the main aspects of the development of software solutions for the above-described mobile robot are discussed. After we supply voltage to the microcontroller universal execution unit (UXU) reads the status of its ports to determine the address and mode, then initializes the USART module. Further work is performed in accordance with the mode, read from UXU dip switches. The on-board microcomputer polls the bus for connected UXU and their types. To do this, the onboard computer sends data packets with the field «Package Type» set to 0x00. By receiving this package, UXU generates a response packet with the value of it\'s device type.
References:

 

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June 24, 2020
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