Diseño e implementación de un sistema instrumentado usando una single board computer para el control de una plataforma móvil terrestre

Abstract

A single board computer (SBC), as a processor, could be a suitable component of a wheeled mobile robot (WMR) because of its reduced size and high capacities. UDOO was the chosen SBC in order to perform the global controller task of the designed WMR. Moreover, UDOO is in charge of everything related to high level control (tracking trajectory and collision avoidance, teleoperation and assisted avoidance). Low level control (speed control for DC motors and odometry) is performed by the development platform Propeller QuickStart whose design is based in a 32-bit multicore architecture microcontroller (P8X32A). Furthermore, the designed WMR has taken into account the use of not only inner sensors (optical shaft encoder and IMU) but also environment interaction sensors (laser range finder, ultrasonic and contact switch). All of these elements are connected among them and mounted on a robust mechanical structure whose designed is based in the unicycle robot.