An embedded vehicular controller with ARM and DSP for a vision-based AGV
An embedded vehicular controller with a Real-Time Operating System (RTOS) uC/OS-II is designed and developed for a two-wheel differential driven Automated Guided Vehicle by Vision navigation (V-AGV) in this paper,in order to meet strict criteria on function,performance,cost and reliability,compared to its commercial counterpart of general purpose computer. The multi-processor embedded system with distributed architecture consists of a main-controller of vehicle management based on the ARM LPC2210,and a sub-controller of vision navigation based on the DSP TMS320DM642. The embedded RTOS uC/OS-II is used to construct a software development platform,on which different functions needed are described as several tasks,and a number of system services facilitate software realization. In the practical application of device reformation,a commercial AGV product is upgraded by the embedded vehicular controller we develop,on which a sophisticated algorithm of path tracking is implemented successfully and efficiently. The experimental result demonstrates the effectivity and advantages of the embedded multi-processor controller with the RTOS uC/OS-II presented in this paper versus its commercial competitor.
Embedded System ARM DSP uC/OS Automated Guided Vehicle Path Tracking
Xing Wu Peihuang Lou Jun Yu
Jiangsu key laboratory of precision and micro-manufacturing technology Nanjing University of Aeronau Jiangsu key laboratory of precision and micro-manufacturing technology Nanjing University of Aeronau
国际会议
成都
英文
398-403
2008-01-01（万方平台首次上网日期，不代表论文的发表时间）