The Construction Automation and Robotics Research Laboratory of USAF Wright Laboratory Air Base Technology Branch (WL/FIVC) is currently developing technologies and robotic systems to be used in hazardous operations. Each system requires a robotic vehicle that can be controlled remotely or can operate autonomously. In the simplest case, teleoperation, the vehicle requires an on-board control computer linked to a joystick box via RF modems. For autonomous operation, other components must be added to the vehicle and to the Operator Control Unit (OCU). Autonomous operation requires the addition of the Mission Specific Subsystem (MSS) on the vehicle and a display computer on the OCU. The Vehicle Control Unit (VCU), Autonomous Interface Unit (AIU) and the MSS components have been designed to be as generic as possible with respect to various vehicles. On previous robotic vehicles, a unique computer system and software has been developed on a case-by-case basis. Our current modular system is comprised of a control computer, software, and external sensors that can be applied on a generic basis from one vehicle platform to the next reducing duplication of effort. This Robotic Control System (RCS) has been developed using the DeviceNet Controller Area Network (CAN bus). The VCU and AIU use rugged embedded PC/104 hardware and the MSS is based on VME multi-processor technology. The DeviceNet network is a serial bus with a data rate of 500 Kbps and eliminates discrete point-to-point wiring to connect sensors or actuators to the control computers. The vehicle control and sensor interface software resides on solid state disks in the VCU and AIU, which automatically boots upon power up. The software, upon initialization reads and parses an ASCII text vehicle configuration file. This file describes the vehicle and the associated DeviceNet nodes. When a new vehicle is to be made robotic, this configuration file is virtually the only software component on the VCU and AIU that needs to be modified.


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    Titel :

    A Modular Robotic Vehicle Control System Using the DeviceNet® Controller Area Network


    Beteiligte:

    Kongress:

    Third ASCE Specialty Conference on Robotics for Challenging Environments ; 1998 ; Albuquerque, New Mexico, United States


    Erschienen in:

    Robotics 98 ; 154-160


    Erscheinungsdatum :

    1998-04-21




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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