대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
- /
- Pages.2784-2786
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- 2000
DSP를 이용한 CAN 기반 이동로봇 제어기 개발
Development of a CAN-based Controllsr for Mobile Robots using a DSP TMS320C32
- 김동헌 (고려대학교 전기공학과) ;
-
유범재
(한국과학기술연구원(KIST) 지능제어연구센터)
;
- 황보명 (한국과학기술연구원(KIST) 지능제어연구센터) ;
- 임묘택 (한국과학기술연구원(KIST) 지능제어연구센터) ;
-
오상록
(한국과학기술연구원(KIST) 지능제어연구센터)
;
- 김광배 (한국과학기술연구원(KIST) 지능제어연구센터)
- Kim, Dong-Hun (Dept. of electrical engineering, Korea Univ.) ;
-
You, Bum-Jae
(Intelligent System Control Research Center, KIST)
;
- Hwang-Bo, Myung (Intelligent System Control Research Center, KIST) ;
- Lim, Myo-Taeg (Intelligent System Control Research Center, KIST) ;
-
Oh, Sang-Rok
(Intelligent System Control Research Center, KIST)
;
- Kim, Kwang-Bae (Intelligent System Control Research Center, KIST)
- 발행 : 2000.07.17
초록
Mobile robots include control modules for autonomous obstacle avoidance and navigation. They are range modules to detect and avoid obstacles. motor control modules to operate two wheels. and encoder modules for localization. There is needed an appropriate controller for each modules. In this paper. a control system. including 18 channels for Sonar sensors. 4 channels for PWM modules. and 4 channels for encoder modules. is proposed using TMS320C32 DSP adopted with CAN. The board communicates with other modules by CAN. so that mobile robots can perform several tasks in real time. So we can realize on autonomous mobile robot with basic functions such as obstacle avoidance by using the developed controller. Especially. this controller has 100 msec scan time for 16 sonar sensors and can detect closer objects comparing with standard sonar sensors.
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