| Title |
An Improved Priority Application for Humanoid Robot in the Controller Area Network(CAN) |
| Authors |
구자봉(Ku Ja-bong) ; 허욱열(Huh Uk-youl) ; 김진걸(Kim Jin-geol) ; 김병륜(Kim Byung-yoon) |
| Keywords |
CAN ; Bandwidth ; Distributed Control ; Message Scheduling |
| Abstract |
The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. Unfortunately, CAN, in its current form, is not able to either share out the system bandwidth among the different devices fairly or to grant an upper bound on the transmission times experienced by the nodes connected to the communication medium as it happens, for instance, in the token-based networks. In this paper. we present the message scheduling for CAN, based on the distributed control scheme to integrate actuators and sensors in a humanoid robot. Besides introducing the new algorism, this paper also presents some performance figures obtained using a specially developed software simulator, while the behavior of the new algorism is compared with the traditional CAN systems, in order to see how effective they are. |