RTOS-based software architecture for multisensor fusion system

Author

Kejun, Zhang ; Jianbo, Su

Author_Institution

Dept. of Autom. & Res. Center of Intelligent Robotics, Shanghai Jiao Tong Univ., China

Volume

2

fYear

2004

fDate

20-23 July 2004

Firstpage

906

Abstract

In this paper, software architecture for multisensor fusion system (MFS) in dynamic environment is described. The architecture has the characteristics of robustness, dynamically reconfigurable framework, "plug-in-play" for sensor, and predictability of sensor action. According to requirements of MFS, the real-time operating system (RTOS) is applied in this software architecture. The result is an RTOS-based software architecture, which consists of five kinds of tasks: sensor sampling task (SST), sensor data processing task (SDPT), fusion task (FT), management task (MT) and man/machine interface task (MMIT). A calligraphic robot has been designed and developed in our lab based on the software architecture proposed. The application of the architecture makes the sensor management of the calligraphic robot system easy.

Keywords

operating systems (computers); robots; sensor fusion; software architecture; calligraphic robot; dynamically reconfigurable framework; fusion task; man machine interface task; management task; multisensor fusion system; real-time operating system; sensor data processing task; sensor sampling task; software architecture; Computer architecture; Data processing; Operating systems; Real time systems; Robot sensing systems; Robustness; Sampling methods; Sensor fusion; Sensor phenomena and characterization; Software architecture;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2004. 5th Asian

Conference_Location

Melbourne, Victoria, Australia

Print_ISBN

0-7803-8873-9

Type

conf

Filename

1426768