Open-Source Robotics and Process Control Cookbook

Open-Source Robotics and Process Control Cookbook

Over the course of roughly a year, after completing my first book, I resurrected an old

pet project of building an autonomous submarine (referred to as the E-2 project) with

certain fairly challenging functionality requirements. In the course of developing this

idea, I spent many hours on the Internet and elsewhere, researching techniques for

rapid development of various electromechanical control systems and platforms to run

fairly complex signal-processing algorithms. Although there are, of course, thousands

of useful projects and snippets of information to be obtained from the Internet and

books on hobbyist robotics, I found that nobody else seemed to have my exact priorities.

In particular, there is apparently no single reference that gathers together at

least introductory solutions to all the embedded design issues that affected my project:

a need to use low-cost (open-source) tools and operating systems, a requirement

for several features with fairly hard real-time requirements, and a desire to use cheap,

off-the-shelf consumer grade components wherever possible. Available resources on

many topics concentrate either on very expensive off-the-shelf industrial components,

or on tightly constrained systems built around a single microcontroller, with

delicately optimized, nonportable code to control peripherals—and a very limited

range of peripheral support, at that. These latter system design restrictions are unavoidable

when you’re working to tight power requirements, space constraints, or a

rock-bottom bill of material (BOM) cost, but it’s an inordinate amount of effort to

build and tune such systems for a one-off project or a prototype. Furthermore, learning

all the details required to assemble such a system is an enormous task; it’s easy to

get lost in fine-tuning details without ever managing to field a complete.

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