CAN-based distributed control architecture using the SCoCAN communication protocol

This paper describes the design and implementation of a CAN time-triggered based communication protocol named SCoCAN, (shared channel on CAN), intended for use in distributed control systems, as is the case of autonomous mobile robots. This protocol enables real time communication between different intelligent nodes (sensors, actuators and controllers). The SCoCAN protocol has been implemented in the YAIR robot nodes, producing minimum jitter in the sensor-control-actuator loops. This hybrid protocol follows a scheme between pure TTP (time triggered protocol) and ETP (event triggered protocol), that guarantees acceptable response times and is deterministic