A Generic Embedded Robot Platform for Real Time Navigation and Telepresence Abilities

This paper presents a generic embedded robot platform concept that meets functional and real time requirements. The described concept allows easy system extension with new components, simple configuration and implementation of advanced features. Design and development of such complex system poses significant challenges and requires knowledge from several scientific fields as: mechanics, electronics, software and computer engineering. Proposal for hardware control units of these robots is based on the modern families of microcontrollers and DSPs coprocessors which are relevant for autonomous mobile application regarding requirements for interfaces, processing power, memory and power consumption. Typical software for robots generally includes control/navigation and communication functions. In the last decade multimedia software technologies also took place in the robotic system architecture to improve robot capabilities. The concept is proposed after analysis of spatial, temporal, and functional requirements. It involves a generic architecture using modular hardware design and software component based approach. The concept is illustrated by typical use case -- wireless/wired controlled robot. Besides basic navigation commands set, it is able to transmit audio and video information. This provides telepresence impression to the remote operator. The presented approach offers a convenient/flexible platform for further development focused on specific areas such as: intelligent navigation, sensor arrays, wireless networking, human machine interaction, audio and video processing.