The XBC: a modern low-cost mobile robot controller

Much robotics research is carried out using either PICs and processors that are a decade or more out of date The alternative is custom built electronics that is expensive and/or must be reinvented every time a new project is begun. The XBC is a new design for a robot controller merging a modern ARM processor with an FPGA that allows high performance - especially in vision processing and motor control - for a cost similar to controllers with a fraction of its capabilities. Additionally, the XBC uses a new, and still free, software development system, already in wide use. The XBC is being mass produced (at least in research hardware terms) so it is readily available and does not require computer hardware or electronics skills in order to be obtained. This paper describes the system, its capabilities and some potential applications.

Authors

• Richard LeGrand
• Kyle Machulis
• David P. Miller
• Randy Sargent
• Anne Wright

Keywords

• Mobile robots
• Robot control
• Hardware
• Robot vision systems
• Merging
• Field programmable gate arrays
• Motor drives
• Costs
• Programming
• Application software
• Motor Control
• ARM Processor
• Interactive
• Running
• Control System
• Middle School
• Analog-to-digital Converter
• Programming Environment
• Color Vision
• Lookup Table
• Closed-loop Control
• Light Changes
• Color Model
• Control Board
• Flash Memory
• Motor Position
• Multiple Processors
• HSV Color
• robot controller
• back-emf
• color tracking
• robot programming environment