Computational Requirements

An Arduino Due micro-controller will be used to control each of the different subsystems within the AGSE. Using a 32-bit core that runs at 84 MHz, the Due supports 4-bytes wide data operations within each clock. Combined with 512Kbytes of Flash memory and a DMA controller, the chip provides sufficient computational power to control the AGSE subsystem and provides storage for the program of the autonomous agent. Since most mechanical components are controlled by servo motors, the systen also needs a board with a large amount of digital I/O pins. The Due provides 54 digital I/O pins, 12 of which provide pulse-width modulation (PWM) output that will be used to control the servo motors.

Other available I/O pins allow for control of other miscellaneous AGSE subsystems such as the master pause switch and safety light indicator. The board is also ideal for relaying information from various serial sensors. In the event that the AGSE team decides to add sensors and environment-data processing, the Due controller will provide an ideal platform to implement such capabilities.

The board is capable of operating on an external supply of six to 20 volts. While this is fairly standard for Arduino micro-controllers, the wide range for the external power source provides more flexibility when evaluating trade-offs with respect to power.