Communication framework for sensor-actuator data in mobile robots

In this paper we present a CAN based communication system to connect sensors and actuators in a mobile robot platform and integrate them in a specific navigation architecture. The goal of this work is to provide a simple, flexible and open system that allows connecting different hardware components in a mobile robot. Sensor and actuator modules can be connected or disconnected to a computer while the system is working in a similar way that USB devices work. The system has been tested in our mobile robot Rato to replace the old sensor system and has proven to integrate a ring of sonar sensors and a set of tactile sensors in our navigation architecture.