Publication result detail

High Level Software Architecture for Autonomous Mobile Robot

KREJSA, J.; VĚCHET, S.; HRBÁČEK, J.; SCHREIBER, P.

Original Title

High Level Software Architecture for Autonomous Mobile Robot

English Title

High Level Software Architecture for Autonomous Mobile Robot

Type

Paper in proceedings (conference paper)

Original Abstract

The paper deals with the high level software architecture for autonomous mobile robot Bender II, medium size wheeled nonholonomic mobile robot with Ackerman chassis for both indoor/outdoor environment. High level software uses hybrid approach combining common layered architecture with reactive control. Local navigation including static/dynamic obstacle detection/avoidance is based on laser range finder data. Global navigation in indoor environment is based on fusion of odometry based position estimation with precomputed scan matching localization technique. Architecture description is accompanied by tests results ob-tained in real environment.

English abstract

The paper deals with the high level software architecture for autonomous mobile robot Bender II, medium size wheeled nonholonomic mobile robot with Ackerman chassis for both indoor/outdoor environment. High level software uses hybrid approach combining common layered architecture with reactive control. Local navigation including static/dynamic obstacle detection/avoidance is based on laser range finder data. Global navigation in indoor environment is based on fusion of odometry based position estimation with precomputed scan matching localization technique. Architecture description is accompanied by tests results ob-tained in real environment.

Keywords

Mobile robot, Software architecture

Key words in English

Mobile robot, Software architecture

Authors

KREJSA, J.; VĚCHET, S.; HRBÁČEK, J.; SCHREIBER, P.

RIV year

2010

Released

18.11.2009

Publisher

Springer

Location

Berlin

ISBN

978-3-642-05021-3

Book

Recent Advances in Mechatronics 2008 - 2009

Pages from

185

Pages to

190

Pages count

6

BibTex

@inproceedings{BUT31194,
  author="Jiří {Krejsa} and Stanislav {Věchet} and Jan {Hrbáček} and Petr {Schreiber}",
  title="High Level Software Architecture for Autonomous Mobile Robot",
  booktitle="Recent Advances in Mechatronics 2008 - 2009",
  year="2009",
  number="1",
  pages="185--190",
  publisher="Springer",
  address="Berlin",
  isbn="978-3-642-05021-3"
}