DocumentCode
303801
Title
Application of controller area network to mobile robots
Author
Wargui, M. ; Rachid, A.
Author_Institution
Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, Amiens, France
Volume
1
fYear
1996
fDate
13-16 May 1996
Firstpage
205
Abstract
A mobile robot hardware architecture generally consists of a number of sensors and actuators connected to a central processing unit. This type of architecture is time consuming and leads to an unreliable system. The purpose of this paper is to present a decentralized architecture made possible by recent advances in electronics. This architecture is based on the controller area network (CAN) bus and is shown to be very suitable and advantageous in mobile robotics
Keywords
real-time systems; actuators; broadcasting bus; controller area network; decentralized architecture; hardware architecture; message passing; mobile robots; protocol; real time systems; sensors; Access protocols; Automotive engineering; Centralized control; Control systems; Costs; Delay; Job shop scheduling; Mobile robots; Processor scheduling; Timing;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrotechnical Conference, 1996. MELECON '96., 8th Mediterranean
Conference_Location
Bari
Print_ISBN
0-7803-3109-5
Type
conf
DOI
10.1109/MELCON.1996.550992
Filename
550992
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