Real-time Embedded System for Robot Autonomy Subsystem

U ovom radu implementiran je podsustav za upravljanje u stvarnom vremenu sustava za autonomno upravljanje robotom. Opisano je predloženo rješenje univerzalnog sustava za autonomno upravljanje robotom AUnit i zahtjevi na sklopovlje i programsku potporu podsustava za upravljanje u stvarnom vremenu. Razvijena su četiri testna podsustava koji implementiraju djelomičnu sklopovsku funkcionalnost podsustava za upravljanje u stvarnom vremenu: modul za digitalne ulaze i izlaze, modul za analogne ulaze i izlaze, modul za enkodere i pulsno-širinski modulirani signal te modul za razna industrijska serijska komunikacijska sučelja (RS-232, RS-422, RS-485). Svaki od modula realiziran je na zasebnoj tiskanoj pločici čija je sklopovska funkcionalnost ispitana. Za podsustav za upravljanje u stvarnom vremenu razvijena je programska potpora koja obuhvaća upravljačke programe za pojedine razvojne platforme i programski kod koji se izvodi na pomoćnim dijelovima sustava.In this paper a real-time control subsystem for an autonomous robot control system was developed. The proposed solution of the universal autonomous robot control system AUnit and requirements for hardware and software for the real-time control subsystem were described. Four test subsystems that implement partial hardware functionality of the real-time control subsystem were developed: module for digital inputs and outputs, module for analog inputs and outputs, module for encoders and pulse-width modulated signals, and module for various industrial serial communication interfaces (RS-232, RS-422, RS-485). Each module was implemented as a separate printed circuit board whose functionality was successfully tested. Software for the real-time control subsystem was developed and it includes drivers for individual development platforms and program code for auxiliary parts of the system