Implementación computacional de un robot móvil con procesamiento distribuido

HUGO MORALES; CARLOS JOSE SANCHEZ; ESTEBAN LANNUTTI; PABLO MAMOLEJO

Revista de Investigación y Desarrollo de la Facultad de Ingeniería de Sistemas, Cómputo y Telecomunicaciones. Universidad Inca Garcilaso de la Vega

Universidad Inca Garcilaso de la Vega

Lugar: Lima; Año: 2014 vol. 02 p. 38 - 49

1996-2908

Autonomous mobile robots are devices capable of moving and manage themselves in various environments, known or unknown, with little human supervision. This complex and inert electromechanic structure gains life when the software properly relates hardware components to achieve and carry out certain behaviours according to the circumstances. This software has takes information from sensors and knowledge, both historical and inmediate, and then produce proper control effects in accordance to the established behavioural and planification strategy. These tasks are accomplished through adecuate computational treatment, which turns to be very complex. We will describe the development of distributed information processment, regarding hardware and software with the aim of achieving most efficient robot control. In this document we will present the implementation of the computer architecture of an experimental robotic platform developed in LARMMA2 laboratories. We will present a novelty in this kind of distributed architecture, as we will work with elemental processors (microcontrollers) controlling different parts of the robot parallely and concurrently, and communicating asinchronically with each other in order to accomplish high level objectives, through dedicated and point to point communication canals, without using a common bus as the tradicional architectural structure establishes. It is important to indicate that an autonomous mobile robot was planned and built physically, and significant progress was made on the establishment of an important variant for the selected navegation system based on the established mathematical model.