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[DPRG] Processing unit for mobile robot
Subject: [DPRG] Processing unit for mobile robot
From: Randy M. Dumse
rmd at newmicros.com
Date: Fri Apr 18 14:55:34 CDT 2008
Tawit said: Friday, April 18, 2008 10:34 AM
> may I ask you about what is your robot's
> main processing unit?.
>
> Is micro-controller enough to do localization
> and navigation?
Hi Tawit, I use 'Pod's on my robots, and a few others in the
club have used my processors as well. My company, NMI, makes
these. The microprocessor is an 80 MHz DSP, especially designed
to be good at motion control. They has two channels of
quadrature decoding, multiple PWM outputs, very versatile timers
with input output pins, and a 12-bit A/D.
So this single DSP processor is good enough to run two channels
of PID, with plenty of power left over for Odometry, Steering,
and Navigation, Obstacle avoidance.
Others in the club can speak for themselves, but I will just
summarize what I've seen. I've seen several HC332's, some famous
HC11's (David Anderson's SR04) and some combinations of AVR's
and PIC's (usually more than one per robot). There are many
simpler robots with AVR's and/or PIC brains, but they usually
don't have all the functionality you've asked about. Might be
some ARM's, but I can't recall any specifics to mind, but then,
I've been busy teaching classes and haven't been to the meetings
for a while.
Now, as far as the PC side, you know, I don't recall anyone with
a PC based robot that is working. If they are working, they are
using off board micros to do the motor controls. Is that right?
Anyone know of a PC only robot working in our club?
Randy
www.newmicros.com
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