A modular, layered client-server control architecture for autonomous mobile robots

The task of implementing intelligent control in autonomous mobile robots is a tough one. Often, one wants to reuse parts of other implementations but these are usually too hardware-specific to be transferred to a different platform. By applying well-known software engineering principles, the authors...

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Bibliographic Details
Published inISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics Vol. 2; pp. 697 - 701 vol.2
Main Authors Berger, M.O., Kubitz, Dumoulin, R., Posielek, R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1997
Subjects
Actuators
Communication system control
Computer architecture
Control systems
Hardware
Mechatronics
Mobile robots
Robot sensing systems
Service robots
Software engineering
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Summary:The task of implementing intelligent control in autonomous mobile robots is a tough one. Often, one wants to reuse parts of other implementations but these are usually too hardware-specific to be transferred to a different platform. By applying well-known software engineering principles, the authors arrive at a modular, layered client server based architecture for controlling autonomous mobile robots. In this paper, they present the most important concepts underlying their development. Special care is taken of the integration of a wireless communication link relying on DECT, the Digital Enhanced Cordless Telecommunication system. Their approach gives better reusability, portability, testability and maintainability through data abstraction. It was successfully applied in their experimental platform ARS.
ISBN:0780339363
9780780339361
DOI:10.1109/ISIE.1997.649078