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Design of a Microprocessor Driven Generic Controller for a Mobile Robot Base

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The primary project goal is to design and fabricate a controller to be used in an autonomous mobile robot which is consistent with the generic controller concept set forth by the Mobile Robotics Group. A generic controller must be capable of controlling interfacing units such as sonar and motor drive systems without any hardware modifications. Thus, any sensor or actuator applicable for use in mobile robotics can be utilized by providing the appropriate interface to, and programming for, the generic controller. Communication between generic controllers is needed to pass data from sensors to actuators. The most important design considerations are interface flexibility, size, power consumption, and robustness. The generic controller provides the following capabilities as specified by the Mobile Robotics Group. These include interboard communication capability, on-board memory, debug and download capability through the use of a dedicated communication channel, a pulse width generator for motor control, an interrupt arbitration scheme, and a multi-port I/O device with separate ports for an array of light emitting diodes, preset dual inline switches and external pendent control capability.

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1990-07

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Cornell University

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computer science; technical report

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http://techreports.library.cornell.edu:8081/Dienst/UI/1.0/Display/cul.cs/TR90-1140

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technical report

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