Sniffer: um robot baseado em arbitragem de comportamentos autónomos e reactivos

Abstract

This paper describes the most important aspects of the hardware and software architectures of the robot Sniffer, built specifically to participate on the Micro-Rato 2000 robotics contest of the University of Aveiro, where it won the “Innovation Prize”. The main hardware components are a micro-controller from the Intel 8051 family and a Xilinx XC4005XL FPGA. The former is used to run the control algorithms while the later performs some low-level tasks. The control software is based on the arbitration of autonomous and reactive behaviors. This approach makes itsprogramming very flexible and fully extensible and allows the robot to achieve the goals for which it was built without any previous knowledge about the labyrinths.