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
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;
Conference_Titel :
Electrotechnical Conference, 1996. MELECON '96., 8th Mediterranean
Conference_Location :
Bari
Print_ISBN :
0-7803-3109-5
DOI :
10.1109/MELCON.1996.550992
