Detail publikačního výsledku

High Level Software Architecture for Autonomous Mobile Robot

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

Originální název

High Level Software Architecture for Autonomous Mobile Robot

Anglický název

High Level Software Architecture for Autonomous Mobile Robot

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

Mobile robot, Software architecture

Klíčová slova v angličtině

Mobile robot, Software architecture

Autoři

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

Rok RIV

2010

Vydáno

18.11.2009

Nakladatel

Springer

Místo

Berlin

ISBN

978-3-642-05021-3

Kniha

Recent Advances in Mechatronics 2008 - 2009

Strany od

185

Strany do

190

Strany počet

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"
}