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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Limsoonthrakul, S. Dailey, M.N. Srisupundit, M. Suwan Tongphu Parnichkun, M. |
| Copyright Year | 2009 |
| Description | Author affiliation: Mechatronics, Asian Institute of Technology, Klong Luang, Pathumthani 12120 THAILAND (Srisupundit, M.; Parnichkun, M.) || Computer Science and Information Management, Asian Institute of Technology, Klong Luang, Pathumthani 12120 THAILAND (Limsoonthrakul, S.; Dailey, M.N.; Suwan Tongphu) |
| Abstract | We present a system software architecture for mobile robots such as autonomous vehicles. The system achieves the goals of flexibility, maintainability, testability, and modifiability through a decoupled software architecture based on an asynchronous publish-subscribe mechanism and a blackboard object handling synchronized access to shared data. We report on two implementations using the proposed generic architecture and the POSIX real time API. The first implementation is for an autonomous vehicle using waypoint-based navigation, and the second implementation uses the same high-level modules but replaces the low-level hardware interfaces with a virtual reality simulation. Our experiments and an evaluation indicate that the architecture is suitable for a wide variety of control algorithms and supports the construction of testable, maintainable, and modifiable autonomous robot vehicles at low cost in terms of real-time performance. |
| Starting Page | 633 |
| Ending Page | 638 |
| File Size | 328796 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913075 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Publish-subscribe Mobile robots Computer architecture Remotely operated vehicles System software Software testing System testing Software architecture Navigation Hardware Autonomous Vehicles Software Architecture Real Time Systems Decoupling Mobile Robot Control |
| Content Type | Text |
| Resource Type | Article |
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