On Optimization of Data Entry Procedure Into Onboard Computer of Mobile Robot

摘要

This article discusses a mobile robot moving over rough terrain. The movement of a mobile robot is accompanied by the occurrence of transverse oscillations of the platform, which leads to a decrease in the accuracy of the performance of target tasks. To solve the problem shown, it is proposed to use the subsystem for stabilizing the spatial orientation of the mobile robot platform. It is shown that during the execution of the spatial stabilization cycle, such phenomena as time delays during data entry, data entry errors in the computer occur. This article proves that using a serial interface for data exchange causes unacceptable time delays. Therefore, a method was proposed for estimating the time intervals between transactions formed during the stabilization cycle of the spatial orientation of the platform. The dependencies obtained allowed us to develop a technical solution for which an estimate was made of the noise resulting from the execution of the polling procedure, and an estimate of the time delay between transactions for filling and “emptying” buffer registers.