Cortex-M3 프로세서 기반 이동로봇용 모터 및 센서 통신 모듈 설계 및 구현

A mobile robot requires a lot of information in order to accomplish given missions. To provide sensor information and control command to robots, a real-time communication system is required. In this paper, we propose a real-time system which provides synchronized odometer and angular velocity to robots based on the Cortex-M3 processor. The system contains an inertial measurement unit, two wheel encoder, an absolute encoder for steering, and two motor controller using controller area network (CAN) interface.