A Component Based Hybrid Embedded Framework for Mobile Robot

作者：Ren Wei^*; He Ding xin; Zhao Jin

来源：13th International Conference on Parallel and Distributed Computing, Applications, and Technologies (PDCAT), 2012-12-14 to 2012-12-16.

DOI：10.1109/PDCAT.2012.14

• embedded system
• platform based design
• component based desgin
• real-time
• hybrid architecture
• mobile robot

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 microcontroller 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.

• 出版日期2012
• 单位华中科技大学