A DSP Based Non-Vision Sensor Data Acquisition System for Autonomous Mobile Robot

Author

Li, Jianfeng ; Yuan, Kui ; Zou, Wei

Author_Institution

Hi-tech Innovation Center Inst. of Autom., Chinese Acad. of Sci., Beijing

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9198

Lastpage

9202

Abstract

It is important for an autonomous mobile robot to explore its surroundings in performing the task of localization and navigation. Because of the complexity of the environment, one simple kind of sensors isn´t sufficient for mobile robot to accomplish these tasks. The DSP based non-vision sensor data acquisition system selects DSP TMS320LF2407A as its CPU, and integrates with ultrasonic sensors, infrared sensors, position sensitive detectors and a compass. The diversity of sensors can avoid the blind zone and the specular reflection caused by ultrasonic sensors by multi-sensor data fusion. It communicates with PC through serial ports and USB ports. The system has a simple and flexible architecture, low power consumption. The experimental results on a real mobile robot show its reliability and real-time capability

Keywords

compasses; mobile robots; motion control; path planning; position control; sensor fusion; DSP TMS320LF2407A; DSP based nonvision sensor data acquisition system; autonomous mobile robot; compass; infrared sensors; position sensitive detectors; robot localization; robot navigation; ultrasonic sensors; Data acquisition; Digital signal processing; Infrared detectors; Infrared sensors; Mobile robots; Navigation; Position sensitive particle detectors; Reflection; Sensor fusion; Sensor systems; infrared sensors; multisensor data fusion; position sensitive detectors; ultrasonic sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713780

Filename

1713780