A Java-based middleware for control and sensing in mobile robotics
2008 (English)In: International Conference on Intelligent Automation and Robotics 2008, 2008, 649-654 p.Conference paper (Refereed)
Many of the existing mobile-robot software packages do not include handling of sensors and actuators in a sufficiently systematic and uniform way, as described later in this section. The software framework proposed in this paper, denoted NAV2000, 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 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 distributed over a network of computers if some software modules require more computing power, i.e. more hardware can be added to the system without any software changes. To accomplish sufficient monitoring of the system's health, a dedicated system keeps track of all software modules. 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
2008. 649-654 p.
Software engineering, Mobile-robot software, Autonomous vehicles
Research subject Computer Science
IdentifiersURN: urn:nbn:se:umu:diva-19886ISBN: 978-988-98671-0-2OAI: oai:DiVA.org:umu-19886DiVA: diva2:207696