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A Software Framework for Control and Sensing in Mobile Robotics
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
2007 (English)Report (Other academic)
Abstract [en]

Many of the existing mobile-robot softwares do not include handling of sensors and actuators in a sufficiently systematic and uniform way. The software framework proposed in this paper addresses the specific need for interchangeability of components in robotics. At the lowest level, sensors, and sometimes also actuators, often have to be replaced by similar, yet not identical, components. At a higher level, the target vehicle for the developed system often changes during the work process. The presented software provides a framework that supports these replacements and allows configurations of sensors, actuators, and target machines to be specified and manipulated in an efficient manner. The system can be run on several different computers if some software modules require more computing power. To accomplish sufficient monitoring of the system's health, a dedicated system keeps track of all software modules loaded onto the local computer, and also communicates with health monitors in all other computers running the system. The overall health of every module as well as a more detailed description of possible problems is presented graphically. In addition to this, the system uses logfiles to enable convenient debugging and performance analysis of hardware and software modules. The software has been developed as part of, and is currently in use in, a R&D-project for an autonomous path-tracking forest machine.

Place, publisher, year, edition, pages
Umeå: Datavetenskap , 2007. , 16 p.
Series
Report / UMINF, ISSN 0348-0542 ; 07.05
National Category
Computer Science
Identifiers
URN: urn:nbn:se:umu:diva-1769OAI: oai:DiVA.org:umu-1769DiVA: diva2:141950
Available from: 2008-06-23 Created: 2008-06-23 Last updated: 2009-12-15Bibliographically approved

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fulltext(253 kB)254 downloads
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e02e597761ff0e1162c9f8e960686ce8de13aec57d3340973909fbb209e3a6b768e115e9
Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf