Development of a novel interface between vision controller and motion controller for an outdoor autonomous mobile robot.

This paper presents a method for interfacing between a vision controller which is a NVidia Jetson Nano and a motion controller which is a cRIO 9074 controller for an outdoor autonomous mobile robot. The interfacing includes various sensors interface to both controllers and interfacing between these two controllers. Various supervisory-based sensors such as GPS, IMU, and stereo camera are interfaced with the vision controller. The motion controller is interfaced with dc motors and encoders. The interfacing between two controllers is established by serial communication. The main motion control program is developed in Lab VIEW, which runs in RT mode in cRIO while the python program to send the serial data is developed in Nano. The developed program can be further developed to automate the motion control in the robot. [ABSTRACT FROM AUTHOR]