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http://dx.doi.org/10.5302/J.ICROS.2008.14.9.873

Development of System Architecture and Communication Protocol for Unmanned Ground Vehicle  

Moon, Hee-Chang (국민대학교 자동차공학전문대학원)
Woo, Hoon-Je (국민대학교 자동차공학전문대학원)
Kim, Jung-Ha (국민대학교 기계자동차공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.9, 2008 , pp. 873-880 More about this Journal
Abstract
This paper deals with the peer-to-peer data communication to connect each distributed levels of developed unmanned system according to the JAUS. The JAUS is to support the acquisition of unmanned system by providing a mechanism for reducing system life-cycle costs. Each of distributed levels of the JAUS protocol divides into a system, some of subsystems, nodes and components/instances, each of which may be independent or interdependence. We have to distribute each of the levels because high performance is supported in order to create several sub-processor computing data in one processor with high CPU speed performance. To complement such disadvantage, we must think the concept that a distributed processing agrees with separating each of levels from the JAUS protocol. Therefore, each of distributed independent levels send data to another level and then it has to be able to process the received data in other levels. So, peer-to-peer communication has to control a data flow of distributed levels. In this research, we explain each of levels of the JAUS and peer-to-peer communication structure among the levels using our developed unmanned ground vehicle.
Keywords
Unmanned Ground Vehicle(UGV); DARPA challenge; peer-to-peer; JAUS; bandwidth; latency; header;
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  • Reference
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