A can architecture for an intelligent mobile robot

摘要

Yet Another Intelligent Robot (YAIR) is a multisensor prototype of autonomous robot that is currently being developed. The main purpose of this experimental robot is to provide a general platform to research about different real time issues such as distributed sensor systems, data fusion algorithms, operating systems and field buses. This paper describes the robot architecture developed around the CAN (Controller Area Network) bus standard. The paper also analyzes the operational modes that can be found in the robot. Seven basic modes have been defined. Each mode is related with its different movement types and the specific tasks than can be programmed. A preliminar study of the real time characteristics for the different message sets used in each operational mode is also presented.