The eXtreme Test Bed Vehicle for Indoor Environments – First Level Control

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Authors
  1. Vincent, I.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
The eXtreme Test Bed is a small-scale remotely controlled truck that has been retrofitted with a microprocessor, sensors, servos and actuators to experiment with different concepts and software applications in an indoor environment. Two intelligence levels are exploited. A low level vehicle control is realized by the MPC555 microprocessor for reactive avoidance, wandering state and A-to-B mobility. The second is a navigation control level presently in development. This technical memorandum focuses on the first control level. It details the MPC555 functionalities, program functions, mathematics, algorithms and components used to control the eXtreme Test Bed. The objective is to test technologies and software capabilities before application to more expensive platforms. A second goal is to become familiar with a real-time operating system executing several tasks in parallel.

Il y a un résumé en français ici.

Keywords
Robotics;UGV;small platform control;MPC555 microcontroller;RTEMS real-time operating system
Report Number
DRDC-SUFFIELD-TM-2004-262 — Technical Memorandum
Date of publication
01 Dec 2004
Number of Pages
60
DSTKIM No
CA025511
CANDIS No
523254
Format(s):
CD ROM

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