A Component Based Hybrid Embedded Framework for Mobile Robot

A component based hybrid embedded framework for mobile robot is presented in this paper. There are 3 layers in this framework, data layer, real-time layer, and high performance layer. The hardware consists of a hybrid architecture of Advanced RISC Machine (ARM) architecture micro controller and Field Programmable Gate Array (FPGA) with high-speed parallel/serial bus. The software mainly includes a static component system, a real-time operating system, embedded file system and TCP/IP stack etc.. A case study of a visual trajectory-tracking system for the presented framework is also described in this paper. The presented framework is not limited for mobile robot, but also suitable for other embedded systems applications.