Robotics Technologies microBus-Cam II Bedienungsanleitung PDF herunterladen (Seite 8)

Mobile Robots – Current Trends

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The communications protocol and CAN master process are implemented in figure 14

showing the different slaves are connected to the master. Control system for all modules

worked on PC attached to CAN bus using a CAN-USB adapter.

Fig. 14. Robot architecture of CAN system based on sensor and actuator and PC control

module communications.

The connection and disconnection of the different slaves by loading the corresponding

driver is operated by CAN server. The CAN server will first register and initialize the new

module connection, for example if a module with sonar sensors is connected then it will be

identified and the module will hand over the messages to the sonar module. In the case of

connecting a new module, the master will send information to configure the slave and

change the watchdog time. If the master does not receive the watchdog of a slave for a

period longer that a timeout, it assumes the slave is disconnected or has some error and it

will be notified to the control programs interested in the slave data.

3.3 SMARbot: A miniature mobile robot paradigm for ubiquitous computing

Yan Meng from Stevens Institute of Technology, Hoboken introduce SMARbot paradigm

(Meng Yan, et al., 2007). The software reconfiguration of microprocessor and a core

www.intechopen.com

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Robotics Technologies microBus-Cam II Bedienungsanleitung Seite 8