RTLinux-Based Controller for the SuperMARIO Mobile Robot

Abstract

In the last years a new way to implement Real Time control systems has been opened, in connection with the diffusion of the open-source operating system Linux. There are several proposals to force this system to become or, at last, to behave as a Real Time one. Some of them are opened source as the original operating system. The purpose of this work ist two-fold. First, to describe the mechanical structure and the electronics of the mobile robot SuperMARIO (Mobile Autonomous Robot for Indoor Operations): this unit was built in our laboratory about three years ago and the design was oriented to high precision trajectory tracking and high dynamic performance. Second, to detail the software architecture based on the RTLinux OS, including low level Real Time motor feedback, high level trajectory loops, and communication protocols that, though an IEEE 802.11 ratio link, allow the interaction with remote computers as a part of our laboratory network.