SCoCAN: UN PROTOCOLO DE COMUNICACIONES DE TIEMPO REAL PARA SISTEMAS EMPOTRADOS DISTRIBUIDOS. APLICACIÓN AL CONTROL DE ROBOTS

This paper describes the design and implementation of distributed architecture intended for use in distributed control systems, as is the case of mobile robots. In this architecture the distributed embedded nodes has been implemented, as well as a communication protocol called SCoCAN (Shared Channel on CAN). This protocol enables real time communication between different intelligent nodes (sensors, actuators and controllers). SCoCAN is based on a hybrid communication scheme (Time Triggered-Eevent Triggered), that guarantees a minimum jitter in sensor-control-actuator loops. The distributed nodes have RT-Linux as operating system for the management, control and scheduling under real-time constraints