Abstract
The paper deals with the high level software architecture for autonomous mobile robot Bender II, medium size wheeled nonholonomic mobile robot with Ackerman chassis for both indoor/outdoor environment. High level software uses hybrid approach combining common layered architecture with reactive control. Local navigation including static/dynamic obstacle detection/avoidance is based on laser range finder data. Global navigation in indoor environment is based on fusion of odometry based position estimation with precomputed scan matching localization technique. Architecture description is accompanied by tests results obtained in real environment.
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Krejsa, J., Věchet, S., Hrbáček, J., Schreiber, P. (2010). High Level Software Architecture for Autonomous Mobile Robot. In: Brezina, T., Jablonski, R. (eds) Recent Advances in Mechatronics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-05022-0_32
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DOI: https://doi.org/10.1007/978-3-642-05022-0_32
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-05021-3
Online ISBN: 978-3-642-05022-0
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