University of Twente Student Theses


Wifi interface for mobile robots

Janssen, Oskar (2008) Wifi interface for mobile robots.

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Abstract:For the post-academic course on real-time software development a game is being developed. This game consists of 8 small robots that play a ballgame together. The main target for these robots is to push several balls into holes in a field as quickly as possible. To play this game the robots are equipped with wheels, sensors, a wireless communication facility and a TS-7400 development board containing an ARM9 embedded processor to control the several hardware components. The objective of this project is to develop an interface for wireless communication on the TS-7400. This interface will be part of a bigger application that controls the complete robot. It provides a set of functions to the control part of that application. Before this interface could be implemented more knowledge about the available hardware was gained. Thereafter a communication protocol was designed. This protocol records the possibilities and restrictions of the way of communicating. A set of functions has been designed that can be used by robots to send and receive specific information. In the resulting design all robots communicate via a referee application that runs on an independent personal computer. This referee application takes care of the control of the game. It registers robots before the start of the game and judges information requests of robots during the game. The referee application itself has an interface that can be controlled by a human. This human referee handles cases that can not be controlled by the referee application (starting the game, determining a winner, etc.). The designed software has been successfully tested with 3 robots and the referee application. Although the rates at which the robots could communicate appeared to be lower than expected, the developed software is quick enough to play the game. The communication part of the robot software can be improved in order to gain higher rates.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
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