ВГРАЖДАНЕ НА CDC ХОСТ ЗА УПРАВЛЕНИЕ НА 2D ЛАЗЕРЕН СКЕНЕР С ПРИЛОЖЕНИЕ В МОБИЛНАТА РОБОТИКА
EMBEDDED CDC HOST FOR CONTROL OF A 2D LASER SCANNER WITH APPLICATION IN MOBILE ROBOTATION

Summary/Abstract: In this paper, the implementation (hardware and firmware) of on-board USBCDC host, using VNC2 controller for communication with 2D laser scanner URG-04LX-UG01 is presented. The presented system is embedded in small tracked mobilerobot with a basic limit for minimum energy consumption. The main accent is on software implementation of CDC host and its operation with the real time operating system without this leading to in creasing normal error of measurements of the usedsensor.

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