A Software Framework for Control and Sensing in Mobile Robotics
2007 (English)Report (Other academic)
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.
Report / UMINF, ISSN 0348-0542 ; 07.05
IdentifiersURN: urn:nbn:se:umu:diva-1769OAI: oai:DiVA.org:umu-1769DiVA: diva2:141950