Real-Time Performance of Hybrid Mobile Robot Control Utilizing USB Protocol. (25th February 2015)

• Record Type: Journal Article
• Authors: Augustyn, Jacek
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 2(2015)
• Publication Date: 2015-02-25
• Subjects: Embedded Control System -- USB Protocol -- Real Time -- Hybrid Controller -- Robot; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60028
• Languages: English
• ISSNs: 1729-8806

Abstract

This article discusses the problem of usability of the USB 2.0 protocol in the area of real-time control of a mobile robot. Optimization methods of data transfer handling were proposed. The impact of the optimization results on the entire system's performance was examined in practice. As a test-bed, a hybrid system composed of two devices communicating by direct USB connection was implemented. The first of the mentioned devices was a 32-bit SoC micro-system serving as a direct control unit, and the second one was an off-the-shelf PDA providing supervisory control and logging. Due to this design, the system meets regimes of the real-time constraints and maintains continuity of a data stream at a large bandwidth. The real-time performances of subsystems and the entire system were experimentally examined depending on various operating conditions. Thanks to the performed experiments, the dependency of real-time limits on operational parameters has been determined.