1P1-B04 Design and Implementation of Distributed Control Protocol with CAN for a Mobile Robot

Abstract

Recently, a distributed control system is applied to some robots. We developed a distributed control system using CAN (Controller Area Network) for leg-wheeled type mobile robot IMR-Typel. However, the problem remained when thinking about the change and enhancing the system. In this paper, we describe our proposal about the protocol with a high extendibility for a mobile robot that adjusts distributed control system. The proposed protocol defines the module which has a similar function as module category. And, the systematized message is transmitted to the module category. We report it was confirmed that the mobile robot in which our protocol was mounted operate without trouble.