The influence of the program code structure on the discretization frequency of the onboard computer of a mobile robot

Authors

  • Andrii Rudyk National University of Water and Environmental Engineering image/svg+xml , National University of Water and Environmental Engineering image/svg+xml
  • Viktoriia Rudyk Kyiv National University of Construction and Architecture image/svg+xml
  • Nazarii Radul National University of Water and Environmental Engineering image/svg+xml , National University of Water and Environmental Engineering image/svg+xml
  • Mykhailo Matei Kyiv National University of Construction and Architecture image/svg+xml

DOI:

https://doi.org/10.31713/MCIT.2019.71

Keywords:

mobile robot, program code structure, inertial measuring unit, navigation system, algorithmic drift, integration step

Abstract

The task of code optimization is to refuse third-party libraries that provide a set of features and conditions, which lead to additional load on the microcontroller and reduces its computing capabilities. This task was solved by using only the library for the UART software configuration and the MС work on І2С bus, which allowed to increase the discretization frequency about twice. The error of the algorithmic drift significantly depends on the discretization frequency, at the same time influence of other parameters is almost insignificant, especially when the orders of the integration algorithm are greater than 2

References

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Published

2019-11-12

Issue

2019: Modeling, control and information technologies: Proceedings of III International scientific and practical conference

Section

Information technologies, robotics and artificial intelligence

How to Cite

The influence of the program code structure on the discretization frequency of the onboard computer of a mobile robot. (2019). MCIT: Proceedings of International Scientific and Practical Conference, 3, 212-214. https://doi.org/10.31713/MCIT.2019.71