Design and Implementation of an Open Autonomous Mobile Robot System full report
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16-03-2010, 07:20 AM


Abstract ”
Developing open mobile robot has been a hot topic in AI area. In an open system, a particular component can be easily added and/or replaced. In this paper, a modular and object oriented approach is used to construct an autonomous mobile robot system. IPC (interprocess communication), which is the key mechanism in Linux/Unix operation system, is applied to the robot design. Based on Windows operation system, the robot owns an omnivision, and can finish tasks such as navigation and robot soccer. With a modular design, new components can be easily added to the system. At last, the robot is applied to several tasks. The experiment results show the good performance of the robot.

Presented By:
Jianqiang Jia , Weidong Chen, Yugeng Xi
Institute of Automation, Shanghai Jiaotong University,

INTRODUCTION
Developing open autonomous mobile robot (AMR) system has been a hot topic in AI area. Many ideas have been proposed and applied to autonomous mobile robots. For example, Stanford Research Institute International (SRI) AI Center developed Saphira; Carnegie Mellon University (CMU) Robot Institute developed Teambots; The Royal Institute of Technology designed BERRA. Although, there is not a standard reference accepted by the world, some basic principles can be concluded . They are openness, abstraction and modularity. The three basic rules are common requirements for an AMR system. Concurrent programming (CP) and object oriented programming (OOP) have been widely used in many computer systems. While many AMR systems use computer as the hardware platform, these important ideas are seldom applied in AMR system design and realization. This paper introduces an AMR system: Frontier-I, which is designed using OOP method. The IPC (interprocess communication), which is the main mechanism of Linux/Unix operation system [8], is applied to the system design. Based on Windows operation system, the robot owns an omnivision, and can finish tasks such as navigation and robot soccer. With a modular design, new components can be easily added to the system. At last, the robot is applied to several tasks. The experiment results show the good performance of the robot.


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robocup.sjtu.edu.cn/English/Paper/Design%20and%20Implementation%20of%20an%20Open%20Autonomous%20Mobile%20Robot%20System.pdf
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