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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Distributed and Modular CAN-Based Architecture for Hardware Control and Sensor Data Integration.

Diego P Losada¹, Joaquín L Fernández², Enrique Paz³

¹Robotics and Control Unit, AIMEN Technology Centre, Porriño 36410, Spain. diego.perez@aimen.es.

Sensors (Basel, Switzerland)

|May 4, 2017

Summary

This study introduces a flexible Controller Area Network (CAN) bus system for mobile robot hardware integration. The robust, open architecture simplifies communication, reducing delays and overhead for various robotic platforms.

Keywords:

CAN bus distributed control mobile robots software agents software components

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Area of Science:

Robotics
Embedded Systems
Control Engineering

Background:

Mobile robot platforms require efficient integration of diverse hardware components like sensors and actuators.
Existing integration systems can be complex, inflexible, or introduce significant communication overhead.
A need exists for a robust, adaptable, and lightweight communication architecture for mobile robots.

Purpose of the Study:

To present a Controller Area Network (CAN)-based distributed system for seamless hardware integration in mobile robots.
To offer a robust, simple, flexible, and open solution for inter-component communication.
To demonstrate the system's applicability across different mobile robot platforms and hardware modules.

Main Methods:

Developed a CAN-based distributed system architecture for mobile robot hardware.
Implemented a communication protocol designed for low latency and minimal overhead.
Integrated and tested the system on the Rato mobile robot, replacing existing controllers.
Utilized the architecture in the design of new robotic platforms, BellBot and WatchBot.
Supported various hardware subsystems including motor controllers and inertial measurement units.

Main Results:

The CAN-based system enables dynamic connection/disconnection of hardware modules without interrupting operation.
Performance analysis confirmed superior transmission efficiency and bandwidth usage compared to other solutions.
The proposed architecture effectively integrates diverse sensors, actuators, and control subsystems.
Demonstrated successful application in multiple mobile robot projects.

Conclusions:

The developed CAN-based system provides a lightweight and efficient communication protocol for mobile robot applications.
The architecture is robust, flexible, and open, facilitating hardware integration and scalability.
The solution effectively minimizes transmission delays and overhead, enhancing overall system performance.