In the last years a new possibility to implement Real Time control systems was opening up, in connection with the diffusion of the open-source operating system Linux. There are several proposal to force this system to become or, at least, to behave as a Real Time one. Some of them are open source as the original operating system. The purpose of this work is two-fold. First, describe the mechanical structure and the electronics of the mobile robot SuperM.A.R.I.O. (Mobile Autonomous Robot for Indoor Operations): this unit was built in our laboratory about three years ago and the design was particularly oriented to high precision trajectory tracking and high performance. Second, detail the software architecture based on the RT-Linux OS, including low level Real Time motor feedback, high level trajectory loops, and communications protocols that, through an IEEE 802.11 radio link, allow the remote control of the unit. -

Bellini, C., Panzieri, S., Pascucci, F., Ulivi, G. (2004). RT-Linux-Based Controller for the SuperMARIO Mobile Robot. In Springer Tracts in Advanced Robotics: Advances in Control of Articulated and Mobile Robots (pp. 153-169). Heidelberg : Springer-Verlag.

RT-Linux-Based Controller for the SuperMARIO Mobile Robot

PANZIERI, Stefano;PASCUCCI, Federica;ULIVI, Giovanni
2004-01-01

Abstract

In the last years a new possibility to implement Real Time control systems was opening up, in connection with the diffusion of the open-source operating system Linux. There are several proposal to force this system to become or, at least, to behave as a Real Time one. Some of them are open source as the original operating system. The purpose of this work is two-fold. First, describe the mechanical structure and the electronics of the mobile robot SuperM.A.R.I.O. (Mobile Autonomous Robot for Indoor Operations): this unit was built in our laboratory about three years ago and the design was particularly oriented to high precision trajectory tracking and high performance. Second, detail the software architecture based on the RT-Linux OS, including low level Real Time motor feedback, high level trajectory loops, and communications protocols that, through an IEEE 802.11 radio link, allow the remote control of the unit. -
2004
978-3-540-20783-2
Bellini, C., Panzieri, S., Pascucci, F., Ulivi, G. (2004). RT-Linux-Based Controller for the SuperMARIO Mobile Robot. In Springer Tracts in Advanced Robotics: Advances in Control of Articulated and Mobile Robots (pp. 153-169). Heidelberg : Springer-Verlag.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11590/175109
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