An open sensing architecture to autonomous mobile robots

被引：1

作者：

Lopez-Orozco, JA ^{[1
]}

de la Cruz, JM ^{[1
]}

Dominguez, E ^{[1
]}

Besada, E ^{[1
]}

Polo, OR ^{[1
]}

机构：

[1] Univ Complutense Madrid, Dpto Arquitectura Computadores & Automat, Madrid, Spain

来源：

JOINT CONFERENCE ON THE SCIENCE AND TECHNOLOGY OF INTELLIGENT SYSTEMS | 1998年

关键词：

sensing architecture; mobile robots; real-time object-oriented;

D O I：

10.1109/ISIC.1998.713777

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a system that allows the connection of different types of sensors and sensor combinations is presented. The designed system is considered a black box from the point of view of the sensors, and provides the users with a multisensor fusion method to prove different sensor sets, which can be complementary and/or redundant, in order to save the users from creating a new structure for each sensorial system. The design of our architecture is mean to be clear and versatile, to let any designer make use of their own algorithms of control, fusion, planning, etc., without needing to develop a completely new one. The ROOM methodology (Real-Time Object-Oriented Modeling) has been used to develop the system, due to its features: it's specially designed to analyse, carry out and implement real time distributed system.

引用

页码：610 / 615

页数：6