Toeminator's Host Control System


The host control system's purpose it to allow the robot to communicate with a PC. The reasons for this are:

  1. Probably most importantly it allows the CPU and memory intensive work of building a map, localisation and navigation to be done on a remote system.
  2. To allow some of the preset parameters to be viewed and modified.
  3. Enabled data to be saved and analysed remotely.

The HCS also has an environment simulator (Which I've written using OpenGL), that creates a 3D model of the data from the robot. This means that it makes it easy to see whether the data being sent back makes sense and is visualise how the robot perceives its environment.

Below is a screen shot of the HCS, shows the various ways it can be used to control the robot.