Open Architecture Design for Mobile Robotics

摘要

Due to the fast innovation speed in the hardware and software technologies in the field of mobile robotics, it becomes more and more necessary to develop applications based on methodologies which take into account the easiness of future modifications, updates and improvements in the designed system. According to these requirements, this paper presents an original open architecture oriented implementation for mobile robotics. The software and hardware are structured in independent blocks, with connection through a common bus and the use of micro-controllers for real time implementation. According to the open architecture, a proposal of a GPC position controller implementation is presented.