A Component Based Hybrid Embedded Framework for Mobile Robot

Author

Wei Ren ; Ding-Xin He ; Jin Zhao

Author_Institution

Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China

fYear

2012

fDate

14-16 Dec. 2012

Firstpage

16

Lastpage

19

Abstract

A component based hybrid embedded framework for mobile robot is presented in this paper. There are 3 layers in this framework, data layer, real-time layer, and high performance layer. The hardware consists of a hybrid architecture of Advanced RISC Machine (ARM) architecture micro controller and Field Programmable Gate Array (FPGA) with high-speed parallel/serial bus. The software mainly includes a static component system, a real-time operating system, embedded file system and TCP/IP stack etc.. A case study of a visual trajectory-tracking system for the presented framework is also described in this paper. The presented framework is not limited for mobile robot, but also suitable for other embedded systems applications.

Keywords

control engineering computing; embedded systems; field programmable gate arrays; microcontrollers; mobile robots; operating systems (computers); transport protocols; ARM architecture microcontroller; FPGA; Internet protocol; TCP-IP stack; advanced RISC machine; component based hybrid embedded framework; data layer; embedded file system; field programmable gate array; high performance layer; mobile robot; parallel-serial bus; realtime layer; realtime operating system; reduced instruction set computer; static component system; transport control protocol; Embedded systems; Field programmable gate arrays; Hardware; Microcontrollers; Mobile robots; Real-time systems; component based desgin; embedded system; hybrid architecture; mobile robot; platform based design; real-time;

fLanguage

English

Publisher

ieee

Conference_Titel

Parallel and Distributed Computing, Applications and Technologies (PDCAT), 2012 13th International Conference on

Conference_Location

Beijing

Print_ISBN

978-0-7695-4879-1

Type

conf

DOI

10.1109/PDCAT.2012.14

Filename

6589234