Sensing hardware platform

Figure 2 illustrates the platform of the prototype mobile robot with the main elements. The idea is to use an open architecture system, reconfigurable, as described above. In this sense, the proposed implementation of the hardware has as the main processing device the microprocessor TMS320C6416 DSP from Texas Instruments as previously described. The use of reconfigurable hardware devices such as PLDs and FPGAs has described his reasons for choosing them in previous sections. 

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