Design of a real-time computer system for relative position robot control

摘要

The focus of this research work is on the design of a computer system for a robot that uses relative position dynamic control through vision feedback from an end-point mounted camera. A suitable implementation of the sensing and control calculations was determined by considering various computer systems and algorithms. A multiprocessor system using transputers was chosen as the computer hardware. The scalar update Kalmanglter algorithm was chosen for relative position sensing. The number and topology of the processors to be used, and the division of calculations bemeen them was determined by studying the timing results of the parallel implementations.