DocumentCode :
676964
Title :
RRTLAN - A real-time robot communication protocol stack with multi threading option
Author :
Edlinger, Raimund ; Zauner, Michael ; Rokitansky, Walter
Author_Institution :
R&D, Univ. of Appl. Sci., Wels, Austria
fYear :
2013
fDate :
21-26 Oct. 2013
Firstpage :
1
Lastpage :
5
Abstract :
This paper presents the controlling and communication system structure of a new rescue robot concept. This robot is built to get a fast overview in search and rescues missions. A lot of disaster scenarios in the past have shown, that it is important to get an overview as fast as possible over the debacle. This is also necessary to plan and coordinate the action force like fire fighters or first-aid suppliers. The controlling system is separated in two levels, the high level control and the low level control. One of the important tasks, in each control system, is the communication between the single control units. Ethernet is a general communication standard with a high throughput in a computer network. The possibility of collisions in and the switching mechanism in modern LAN, causes undefined delays. This paper introduces a new communication protocol, called RRTLAN, with a high performance, flexibility and reliability. RRTLAN also needs less microcontroller resources, so it can be implemented even in tiny microcontroller with little memory.
Keywords :
collision avoidance; control engineering computing; disasters; local area networks; microcontrollers; mobile robots; multi-threading; protocols; Ethernet; RRTLAN; action force; collisions possibility; communication standard; communication system structure; computer network; disaster scenarios; fire fighters; first-aid suppliers; high level control; low level control; microcontroller resources; multithreading option; real-time robot communication protocol stack; rescue robot concept; search and rescues missions; switching mechanism; undefined delays; IP networks; Level control; Microcontrollers; Protocols; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on
Conference_Location :
Linkoping
Print_ISBN :
978-1-4799-0879-0
Type :
conf
DOI :
10.1109/SSRR.2013.6719319
Filename :
6719319
Link To Document :
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