A DSP Based Non-Vision Sensor Data Acquisition System for Autonomous Mobile Robot

It is important for an autonomous mobile robot to explore its surroundings in performing the task of localization and navigation. Because of the complexity of the environment, one simple kind of sensors isn´t sufficient for mobile robot to accomplish these tasks. The DSP based non-vision sensor data acquisition system selects DSP TMS320LF2407A as its CPU, and integrates with ultrasonic sensors, infrared sensors, position sensitive detectors and a compass. The diversity of sensors can avoid the blind zone and the specular reflection caused by ultrasonic sensors by multi-sensor data fusion. It communicates with PC through serial ports and USB ports. The system has a simple and flexible architecture, low power consumption. The experimental results on a real mobile robot show its reliability and real-time capability