NDLI: A Mobile Robot Platform with DSP-based Controller and Omnidirectional Vision System

Content Provider	IEEE Xplore Digital Library
Author	Jizhong Xiao Calle, A. Jing Ye Zhigang Zhu
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng., New York City Univ., NY (Jizhong Xiao; Calle, A.)
Abstract	This paper describes a mobile robot platform built entirely from commercial off-the-shelf (COTS) components. The design explicitly aims at enabling research in robot navigation, multi-robot coordination, and distributed robotics. The platform must meet many criteria including low cost, simple fabrication, and a sensor/actuator suite that facilitate navigation and localization. We use state-of-the-art digital signal processor (DSP) from Texas Instruments (TI) to design the control system because of its high-speed performance, its support for multi-motor control, and its low power consumption. An omnidirectional vision system is implemented to facilitate vision-based multiple robot coordination. Future research directions using the mobile robot platform are outlined
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	844
Ending Page	848
File Size	208110
Page Count	5
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521894
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Control systems Machine vision Robot sensing systems Robot kinematics Navigation Costs Fabrication Actuators Digital signal processors omnidirectional vision Distributed robotics mobile robot digital signal processor
Content Type	Text
Resource Type	Article

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