Publication detail
High Level Software Architecture for Autonomous Mobile Robot
KREJSA, J. VĚCHET, S. HRBÁČEK, J. SCHREIBER, P.
English title
High Level Software Architecture for Autonomous Mobile Robot
Type
Paper in proceedings (conference paper)
Language
en
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.
Keywords in English
Mobile robot, Software architecture
Released
2009-11-18
Publisher
Springer
Location
Berlin
ISBN
978-3-642-05021-3
Book
Recent Advances in Mechatronics 2008 – 2009
Pages from–to
185–190
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"
}