Detail publikace
High Level Software Architecture for Autonomous Mobile Robot
KREJSA, J. VĚCHET, S. HRBÁČEK, J. SCHREIBER, P.
Anglický název
High Level Software Architecture for Autonomous Mobile Robot
Typ
Stať ve sborníku v databázi WoS či Scopus
Jazyk
en
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.
Klíčová slova anglicky
Mobile robot, Software architecture
Vydáno
2009-11-18
Nakladatel
Springer
Místo
Berlin
ISBN
978-3-642-05021-3
Kniha
Recent Advances in Mechatronics 2008 – 2009
Strany od–do
185–190
Počet stran
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"
}