An architecture for indoor navigation

Author

Li, Wenfeng ; Christensen, Henrik ; Oreback, Anders ; Chen, Dingfang

Author_Institution

Dept. of Logistic Eng., Wuhan Univ. of Technol., China

Volume

2

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

1783

Abstract

This paper is concerned with the design and implementation of a control architecture for a mobile robot that is to navigate in dynamic unknown indoor environments. It is based on the framework of Open Robot Control Software @ KTH, which is discussed and evaluated in this paper. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another using unified communication interfaces. Scalability and portability and reusability are the goals of the design.

Keywords

computerised navigation; control engineering computing; mobile robots; path planning; robot programming; software architecture; software portability; software reusability; user interfaces; Open Robot Control Software at KTH; control architecture; dynamic unknown indoor environments; hybrid architecture; indoor navigation; mobile robot; path planning; scalability; software portability; software reusability; unified communication interfaces; Communication system control; Design engineering; Hardware; Helium; Logistics; Mobile communication; Mobile robots; Navigation; Paper technology; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308082

Filename

1308082