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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

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2013 IEEE International Conference on Robotics and Automation

Modular & Reusable Embedded Control Architecture: Case of a Car-like Robot

  • N. Ouadah

Robotics & Automation Dept. NCRM Team CDTA, Algeria

  • uadahn@yahoo.fr

Centre de Développement des Technologies Avancées

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SLIDE 2

2013 IEEE International Conference on Robotics and Automation

Modular & Reusable Embedded Control Architecture: case of a Car-like robot

Illustration schématique

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SLIDE 3

2013 IEEE International Conference on Robotics and Automation

Modular & Reusable Embedded Control Architecture: case of a car-like robot

RR RL SR MPC555 Camera Laser PTU Robot Controller (Navigation, Localisation, …) SynDEX 5.2 Shared Memory Linux RTAI Computer FL FR SF CAN Serial US MPC555 Odometry Odometry

Old Architecture

  • Limitations  :
  • 01 embedded PC
  • Old OS
  • No USB
  • No WIFI
  • Small HD (<10 GO!)
  • …
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2013 IEEE International Conference on Robotics and Automation

Added Laptop (Genom, Qt)

New On-Board PC (Syndex & C++)

User

Human/Robot interaction

Sensors Information Actuators Instructions

Robucar HRI

Ethernet communication Modular & Reusable Embedded Control Architecture: case of a car-like robot

Proposed Solution

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2013 IEEE International Conference on Robotics and Automation

Modular & Reusable Embedded Control Architecture: case of a car-like robot

Proposed Solution - Hardware

Sensors Embedded computers Actuators

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Modular & Reusable Embedded Control Architecture: case of a car-like robot

Modular & Reusable Embedded Control Architecture: case of a car-like robot

New Architecture

  • Characteristics  :
  • 02 computers
  • Recent OSs
  • New low-level layer
  • Modular high-level layer
  • Use of a HRI
  • Accept new sensors
  • Advanced devices

(WIFI, Bluetooth, …)

  • …
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SLIDE 7

2013 IEEE International Conference on Robotics and Automation

Pco

Pna

LMS Plm Planning Ppl VisuServ ObsDet Pobs

VIAM Pim TargDet Pdet

Pvs SLAM Psl

Navigation

Modular & Reusable Embedded Control Architecture: case of a car-like robot

High-Level layer : Genom modules

Communication Control

From Robot To Robot

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2013 IEEE International Conference on Robotics and Automation

Modular & Reusable Embedded Control Architecture: case of a car-like robot

Example of robotic task - SLAM

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2013 IEEE International Conference on Robotics and Automation

  • Proposed Architecture :

– As generic as possible – Reusable and extensive

  • TODO :

– Upgrading Genom to verison 3 – Adding ROS packages – …

Modular & Reusable Embedded Control Architecture: case of a car-like robot

Conclusion & Perspectives