ВГРАЖДАНЕ НА CDC ХОСТ ЗА УПРАВЛЕНИЕ НА 2D ЛАЗЕРЕН СКЕНЕР С ПРИЛОЖЕНИЕ В МОБИЛНАТА РОБОТИКА

Abstract

In this paper, the implementation (hardware and firmware) of on-board USB CDC host, using VNC2 controller for communication with 2D laser scanner URG 04LX-UG01 is presented. The presented system is embedded in small tracked mobile robot with a basic limit for minimum energy consumption. The main accent is on software implementation of CDC host and its operation with the real time operating system without this leading to increasing normal error of measurements of the used sensor.