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Centre de D veloppement des Technologies Avanc es Modular & Reusable Embedded Control Architecture: Case of a Car-like Robot N. Ouadah Robotics & Automation Dept. NCRM Team CDTA , Algeria ouadahn@yahoo.fr 2013 IEEE International

  1. Centre de D é veloppement des Technologies Avanc é es Modular & Reusable Embedded Control Architecture: Case of a Car-like Robot N. Ouadah Robotics & Automation Dept. NCRM Team CDTA , Algeria ouadahn@yahoo.fr 2013 IEEE International Conference on Robotics and Automation

  2. Modular & Reusable Embedded Control Architecture: case of a Car-like robot Illustration schématique 2013 IEEE International Conference on Robotics and Automation

  3. Modular & Reusable Embedded Control Architecture: case of a car-like robot Old Architecture Linux RTAI Computer - Limitations  : Robot Controller (Navigation, Shared Memory SynDEX 5.2 Localisation, …) • 01 embedded PC • Old OS Serial • No USB Camera CAN • No WIFI Odometry Odometry FR RR Laser • Small HD (<10 GO!) MPC555 MPC555 SF SR PTU • … FL RL US 2013 IEEE International Conference on Robotics and Automation

  4. Modular & Reusable Embedded Control Architecture: case of a car-like robot Proposed Solution Added Laptop (Genom, Qt) HRI Human/Robot interaction User Ethernet communication Sensors Information Actuators Instructions New On-Board PC (Syndex & C++) Robucar 2013 IEEE International Conference on Robotics and Automation

  5. Modular & Reusable Embedded Control Architecture: case of a car-like robot Proposed Solution - Hardware Sensors Embedded Actuators computers 2013 IEEE International Conference on Robotics and Automation

  6. Modular & Reusable Embedded Control Architecture: case of a car-like robot Modular & Reusable Embedded Control New Architecture Architecture: case of a car-like robot - Characteristics  : • 02 computers • Recent OSs • New low-level layer • Modular high-level layer • Use of a HRI • Accept new sensors • Advanced devices (WIFI, Bluetooth, …) • …

  7. Modular & Reusable Embedded Control Architecture: case of a car-like robot High-Level layer : Genom modules Navigation SLAM P na P sl TargDet VIAM P im P det Planning P pl ObsDet LMS VisuServ P obs P vs P lm P co Communication Control From Robot To Robot 2013 IEEE International Conference on Robotics and Automation

  8. Modular & Reusable Embedded Control Architecture: case of a car-like robot Example of robotic task - SLAM 2013 IEEE International Conference on Robotics and Automation

  9. Modular & Reusable Embedded Control Architecture: case of a car-like robot Conclusion & Perspectives • Proposed Architecture : – As generic as possible – Reusable and extensive • TODO : – Upgrading Genom to verison 3 – Adding ROS packages – … 2013 IEEE International Conference on Robotics and Automation

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