An embedded vehicular controller with ARM and DSP for a vision-based AGV

作者:Wu Xing*; Lou Peihuang; Yu Jun
来源:International Conference on Embedded Software and Systems, 2008-07-29 to 2008-07-31.
DOI:10.1109/ICESS.Symposia.2008.11

摘要

An embedded vehicular controller with a Real-Time Operating System (RTOS) uC/OS-II is designed and developed for a two-wheel differential driven Automated Guided Vehicle by Vision navigation (V-AGV) in this paper, in order to meet strict criteria on function, performance, cost and reliability, compared to its commercial counterpart of general purpose computer. The multi-processor embedded system with distributed architecture consists of a main-controller of vehicle management based on the ARM LPC2210, and a sub-controller of vision navigation based on the DSP TMS320DM642. The embedded RTOS uC/OS-II is used to construct a software development platform, on which different functions needed are described as several tasks, and a number of system services facilitate software realization. In the practical application of device reformation, a commercial AGV product is upgraded by the embedded vehicular controller we develop, on which a sophisticated algorithm of path tracking is implemented successfully and efficiently. The experimental result demonstrates the effectivity and advantages of the embedded multi-processor controller with the RTOS uC/OS-II presented in this paper versus its commercial competitor.

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