Datasheet

the presence of an obstacle the acceleration will be increased to 3.3m/s

. Allowing to

Stop the robot, fully loaded on a horizontal surface, at a 1m/s velocity in just 15 cm.

• Implementation of a watchdog timer to verify the correct processing of the control loop.

In terms of the low-level safety control loops and interrupt events software the following actions

were performed:

• Watchdog timers in all microcontrollers;;

• Error status messages exchanged between the Sensor&Management and Motor Board;

• All the boards must be in normal operation to Enable the motor drivers;

• The minimum obstacle distance is sent to the Motor Board, if necessary the Motor Board will

reduce the maximum velocity to a safer velocity;

• If a bump is detected, a stop message is sent to the Motor Board to stop the motors

immediately;

• Detection of communication errors between the boards and the Navigation Computer. If an

error is detected the FROG robot will stop immediately;

• Wireless Joystick controller with Emergency stop button control override;

FROG – FP7 STREP nr. 288235

Deliverable: D1.4 – Platform User and Developer Manual 41