Concept and implementation of a software system on the Autonomous Mobile Outdoor Robot AMOR

Author

Kuhnert, Klaus-Dieter

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Univ. of Siegen, Siegen

fYear

2008

fDate

21-24 April 2008

Firstpage

1

Lastpage

6

Abstract

The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration and utilisation by the application programmer. The higher levels of the software system realise localisation, navigation and obstacle avoidance. The overall performance of the system has been proven by winning the first prize in autonomous driving in the European land robot trial (ELROB 2007) for urban and non- urban terrain.

Keywords

collision avoidance; control engineering computing; mobile robots; navigation; object-oriented programming; robot programming; software architecture; AMOR robot; ELROB 2007; European land robot trial; arbitrary weather condition; autonomous driving; autonomous mobile outdoor robot; behaviour based components; heavy terrain; layered architecture; model based components; navigation; obstacle avoidance; robust operation; software architecture; software system; virtualisation layer; Actuators; Computer architecture; Mechanical sensors; Mobile computing; Mobile robots; Real time systems; Robot sensing systems; Robustness; Sensor systems; Software systems; autonomous mobile outdoor robot; software architecture;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2008. ICIT 2008. IEEE International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1705-6

Electronic_ISBN

978-1-4244-1706-3

Type

conf

DOI

10.1109/ICIT.2008.4608567

Filename

4608567