Title :
A Component Based Hybrid Embedded Framework for Mobile Robot
Author :
Wei Ren ; Ding-Xin He ; Jin Zhao
Author_Institution :
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
A component based hybrid embedded framework for mobile robot is presented in this paper. There are 3 layers in this framework, data layer, real-time layer, and high performance layer. The hardware consists of a hybrid architecture of Advanced RISC Machine (ARM) architecture micro controller and Field Programmable Gate Array (FPGA) with high-speed parallel/serial bus. The software mainly includes a static component system, a real-time operating system, embedded file system and TCP/IP stack etc.. A case study of a visual trajectory-tracking system for the presented framework is also described in this paper. The presented framework is not limited for mobile robot, but also suitable for other embedded systems applications.
Keywords :
control engineering computing; embedded systems; field programmable gate arrays; microcontrollers; mobile robots; operating systems (computers); transport protocols; ARM architecture microcontroller; FPGA; Internet protocol; TCP-IP stack; advanced RISC machine; component based hybrid embedded framework; data layer; embedded file system; field programmable gate array; high performance layer; mobile robot; parallel-serial bus; realtime layer; realtime operating system; reduced instruction set computer; static component system; transport control protocol; Embedded systems; Field programmable gate arrays; Hardware; Microcontrollers; Mobile robots; Real-time systems; component based desgin; embedded system; hybrid architecture; mobile robot; platform based design; real-time;
Conference_Titel :
Parallel and Distributed Computing, Applications and Technologies (PDCAT), 2012 13th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-0-7695-4879-1
DOI :
10.1109/PDCAT.2012.14
