Reconfigurable and Modular Mobile Robotics Platform for Remote Experiments

Abstract

In this paper a hardware and software architecture based on a modular approach for a recon?gurable mobile robot is developed with intended use as remote experiment. A Field Programmable Gate Array (FPGA) was chosen as control unit for the robot and allows the implementation of custom hardware and software by the user. FPGA con?gurations are downloaded to the robot using a selectable wireless interface. Users can take control of all elementary robot hardware, and an on-system recovery mechanism is included to ensure a fallback to a golden image in case of errors in downloaded bit streams.