Title :
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
fDate :
April 26-May 1, 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308082
