A small, low-power Object-Oriented Programmable integrated circuit (OOPic) microcontroller was integrated and tested with the architecture for an autonomous ground vehicle (AGV). Sensors with the OOPic, and the XBee Wireless Suite were included in the integration. Tests were conducted, including range and time operation analysis for wireless communications for comparison with the legacy BL2000 microcontroller. Results demonstrated long battery life for the electronics of the robot, as well as communication ranges exceeding high power modems. The OOPic was limited by processing power and an ability to interpret some incoming form data. Consequently its use as a one for one replacement for the BL2000 is limited. However combined use with the BL2000 shows promise as a replacement for sensor monitoring and a hardware substitute for the legacy Pulse Width Modulator.
| Identifer | oai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/2434 |
| Date | 12 1900 |
| Creators | Hoffman, Andrew J. |
| Contributors | Harkins, Richard, Haegel, Nancy, Naval Postgraduate School (U.S.)., Department of Physics |
| Publisher | Monterey California. Naval Postgraduate School |
| Source Sets | Naval Postgraduate School |
| Detected Language | English |
| Type | Thesis |
| Format | xvi, 43 p. : ill. ;, application/pdf |
| Rights | Approved for public release, distribution unlimited |
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