Embedded Controls:

This document describes an embedded controls software architecture that could be

implemented. This document has three sections.
● Section 1 describes which of the control systems team robot operating system
(ROS) nodes can be moved over to the embedded stack.
● Section 2 describes the current embedded architecture
● Section 3 describes the proposed embedded controls architecture respectively.

Section 1. List of controllers that can run on embedded

1.1 Longitudinal controller [Throttle]
Can be completely closed loop at embedded level provided that the drive motor encoder
feedback is available. Speed can be estimated from the encoder feedback and either a
closed loop or existing feedforward controller can be implemented on embedded stack. The
setpoint for the controller is an external (Intel NUC PC in current setup) input.

1.2 Lateral controller [Steering]

Will be partially implemented on embedded. The input for the controller that is path will
require some preprocessing which may have to be carried out on the NUC. Based on the
generated path, steerings angles will be generated

1.3 Mast controller

A closed loop controller can be setup on the embedded side.

1.4 Speed filter

Speed estimation using encoder, pose and acceleration data. Based on performance we
could choose to use only one data, say the encoder and simplify speed estimation. Using
at least two sources will help us detect anomalies like wheel spin.

Section 2. Current embedded architecture

Section 3. Embedded controls architecture