04-02-2010, 11:46 AM
Information about LADAR can be found in this thread:
https://seminarproject.net/Thread-LADAR
Design and Implementation of an
Open Autonomous Mobile Robot System
INTRODUCTION:
The 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.With a modular design, new components
can be easily added to the system.
THREE PRINCIPLES:
Openness:
-This means the support for adding new software
modules as well as new hardware to a system.For
hardware, adding new sensors is pretty much a standard
activity in such environments.in behavior-based systems the
addition of new behaviors is also a common practice.This is the addition in terms of the software.
Abstraction
This means means the abstracting of hardware, as
hardware generally undergoes change. At the lowest level,
one or more motors control the drive and steering. Often
most sensors can connect the PC through USB interface and
I/O can control many simple devices.This practice also makes it more difficult to
exploit special purpose sensors and hardware and there is
thus an extent for hardware abstraction.
Modularity:
It aims at realizing reusable programming and reasonable design.OOP method and languages such as
C++ and Java are used.
An example robpt:THE DESIGN OF FRONTIER-I
The following is a detailed introduction of Frontier-I
AMR system.
-System Configuration
The hardware components are:
-Vehicle Platform: The mechanical body of each
robot is in size of 45X45X60cm with two driving
side-wheels and a caster wheel.
-Sensing System
two color
cameras as its main sensors for detecting the targets. video stream transfer to notebook PC is done using USB.
-Control System:
a micro controller and an upper computer are used for the control.
-Communication System:
The notebook PC also
contains a wireless LAN interface that complies
with the IEEE 802.11 standard. and each robot is a node in the LAN.
Open System:
In terms of hardware, the notebook has USB, PS/2, Serial
port and parallel port, which can connect with many
peripheral devices. Thus it is open. In terms of software, an independent process disposes the
information perceived by sensors. When a new sensor is
added to the system, third part software can be used. In
addition, new API functions can also be added.Thus it is open in terms of software also.
full report:
http://robocup.sjtu.edu.cn/English/Paper...tion/pdf&D=
https://seminarproject.net/Thread-LADAR
Design and Implementation of an
Open Autonomous Mobile Robot System
INTRODUCTION:
The 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.With a modular design, new components
can be easily added to the system.
THREE PRINCIPLES:
Openness:
-This means the support for adding new software
modules as well as new hardware to a system.For
hardware, adding new sensors is pretty much a standard
activity in such environments.in behavior-based systems the
addition of new behaviors is also a common practice.This is the addition in terms of the software.
Abstraction
This means means the abstracting of hardware, as
hardware generally undergoes change. At the lowest level,
one or more motors control the drive and steering. Often
most sensors can connect the PC through USB interface and
I/O can control many simple devices.This practice also makes it more difficult to
exploit special purpose sensors and hardware and there is
thus an extent for hardware abstraction.
Modularity:
It aims at realizing reusable programming and reasonable design.OOP method and languages such as
C++ and Java are used.
An example robpt:THE DESIGN OF FRONTIER-I
The following is a detailed introduction of Frontier-I
AMR system.
-System Configuration
The hardware components are:
-Vehicle Platform: The mechanical body of each
robot is in size of 45X45X60cm with two driving
side-wheels and a caster wheel.
-Sensing System
two color
cameras as its main sensors for detecting the targets. video stream transfer to notebook PC is done using USB.
-Control System:
a micro controller and an upper computer are used for the control.
-Communication System:
The notebook PC also
contains a wireless LAN interface that complies
with the IEEE 802.11 standard. and each robot is a node in the LAN.
Open System:
In terms of hardware, the notebook has USB, PS/2, Serial
port and parallel port, which can connect with many
peripheral devices. Thus it is open. In terms of software, an independent process disposes the
information perceived by sensors. When a new sensor is
added to the system, third part software can be used. In
addition, new API functions can also be added.Thus it is open in terms of software also.
full report:
http://robocup.sjtu.edu.cn/English/Paper...tion/pdf&D=