In recent years the availability and quality of embedded control hardware have significantly improved. And with the ongoing development of the RaM research group into the combination of a Raspberry Pi 4b and an icoBOARD for real-time control, it has reached a state where it should be ready to use in a real-time system.
This thesis presents the process of designing a robot base that is based around the Raspberry Pi 4b and the icoBOARD. And aims to evaluate if this combination has enough computing and communication performance and if it has indeed reached a state where it can be used in a real-world application.
To do this, a small robotic platform with the above-mentioned embedded hardware was constructed, and a closed-loop feedback system has been implemented for the control of the motors.