Robotics Technologies microBus-Cam II Instrukcja Użytkownika Pobierz pdf (Strona 10)

Mobile Robots – Current Trends

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The eighth bit (read or write bit) after the start bit specifies whether the slave is now to

receive or to transmit information. This is followed by an ACK bit issued by the receiver,

acknowledging receipt of the previous byte. Then the transmitter (slave or master, as

indicated by the bit) transmits a byte of data starting with the MSB. At the end of the byte,

the receiver (whether master or slave) issues a new ACK bit. This 9-bit pattern is repeated if

more bytes need to be transmitted. In a write transaction (slave receiving), when the master

is done transmitting all of the data bytes it wants to send, it monitors the last ACK and then

issues the stop condition. In a read transaction (slave transmitting), the master does not

acknowledge the final byte it receives. This tells the slave that its transmission is done. The

master then issues the stop condition.

5. Development of mobile robot based on I

C bus system

In this book chapter, the system of mobile robot named AMRO (Surachai, 2010c) is deeply

explained as example for understanding. This robot is developed by student team from

Measurement and Mobile Robot laboratory.

Its hardware is constructed and combined with

the electronic components including the control program.

5.1 Hardware development for AMRO

The mobile robot is designed based on differential drive system (Byoung-Suk Choi 2009;

Surachai and et al., 2009) as shown in Fig. 17. The combination of two driven wheels allows

the robot to be driven straight, in a curve, or to turn on the spot. The translation between

driving commands, for example a curve of a given radius and the corresponding wheel

speeds are controlled by software.

Fig. 17. The Autonomous Mobile Robot (AMRO), Measurement and Mobile robot laboratory

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