A mobile robot for vigilance tasks improved with a new robust and low cost communications system immune to attacks with EMI noise

This work pretends to develop a robot for vigilance tasks that are able to tolerate diverse kinds of attacks and be able to operate in environments with elevated electromagnetic noise, being even immune to sabotage provoked by means of high electromagnetic fields. A new CAN based communications system that interconnects the different devices that compose the mobile robot has been developed to achieve this goal. The system is based on a shielded communications hub, that interconnects diverse nodes by means of CAN. On the other hand, the point to point communication between each node and the hub is carried out by means of economic optical fiber. With this approach all robot devices are connected by means of CAN, although an optical fiber arrives to each device. In this manner, the total immunity to the electromagnetic noise that the optical fiber transmission presents has been added to all the advantages of a system interconnected by means of CAN, among others the low cost