Abstract
In this paper we give an overview of both hardware and software architectures of real time systems used in devices for various purposes — from lab bench contraptions to cars. The goal of the paper is to reveal separate classes of such architectures as well as to define preconditions for choosing a particular architecture.
Highlights
Due to the intensive growth of applications of mobile robotic platforms in recent years, the development of onboard real-time control systems is coming to the fore
Open-source robotics (OSR) platforms are the foundation for development, providing unified blueprints, schematics, software, and infrastructure to implement the final ideas of third-party developers
In this paper we propose an overview of the hardware and software solutions for a selection of representative samples that cover very different areas varying from laboratory test benchs to electric cars, ATVs performing “aggressive maneuvers”, humanoid robots, four-legged walking robots and manipulators
Summary
Due to the intensive growth of applications of mobile robotic platforms in recent years, the development of onboard real-time control systems is coming to the fore. The task of selecting the architecture of the on-board control system from a large variety of ready-made alternatives comes to the fore, in accordance with the specific operating conditions of the mobile platform. The development of criteria and the construction of a methodology for selecting the architecture of the on-board real-time systems, are an urgent research task. The idea is to reveal main architecture classes, summarize the identified strengths and weaknesses of the most popular solutions. This allows us to identify the main issues affecting the choice of a particular architecture. Power Pack (KPP) drive power supply with drive controller servo Pack (KSP) drive controller servo Pack (KSP) drive controller
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