کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
463148 | 696964 | 2011 | 8 صفحه PDF | دانلود رایگان |
In this paper we describe the implementation of a Linux extension board for the e-puck educational mobile robot, designed to enhance the computation, memory and networking performance of the robot at very low cost. The extension board is based on a 32-bit ARM9 microprocessor and provides wireless network support. The ARM9 extension board runs in parallel with the dsPIC microprocessor on the e-puck motherboard with communication between the two via an SPI bus. The extension board is designed to handle computationally intensive image processing, wireless communication and high-level intelligent robot control algorithms, while the dsPIC handles low-level sensor interfacing, data processing and motor control. The extension board runs an embedded Linux operating system, along with a Debian-based port of the root file system stored in a Micro SD card. The extended e-puck robot platform requires minimal effort to integrate the well-known open-source robot control framework Player and, when placed within a TCP/IP networked infrastructure, provides a powerful and flexible platform for experimental swarm robotics research.
Journal: Microprocessors and Microsystems - Volume 35, Issue 1, February 2011, Pages 60–67