Heterogeneous sensors alignment on ART for map construction

This paper proposes a common platform called automatic robot toolkit (ART), which offers a message stream dispatch mechanism and system development toolkit for robots. Composing a robotic system requires several heterogeneous components that are different hardware, algorithms and software. Each comp...

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Bibliographic Details
Main Authors: Wen-Yo Lee, Yu-Kuen Tsai, Chun-Wei Chen, Ta-Chih Hung, Min-Hao Lee
Format: Conference Proceeding
Language:English
Subjects:
Hardware
Heterogeneous Sensors Alignment
Intelligent robots
Legged locomotion
Mechanical sensors
Middleware
Mobile robots
Robot Map Construction
Robot sensing systems
Robotics and automation
Sensor systems
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Summary:This paper proposes a common platform called automatic robot toolkit (ART), which offers a message stream dispatch mechanism and system development toolkit for robots. Composing a robotic system requires several heterogeneous components that are different hardware, algorithms and software. Each component is integrated into a well designed robotic system. Those systems are designed based on a particular system and it can be hard to have integration with or within other systems. Nowadays, robotics are more and more complex and intelligent. A common platform could be used to integrate those components according to the object concept. Therefore, the best way is to develop a common platform to integrate the already existing or developing techniques. The proposed common platform offers the message channels for each technique component to subscribe and publish the component's information. The common platform is designed based on the message oriented middleware (MOM) concept which effectively abstracts a multi-channel message transport layer to enable asynchronous exchange of data and event notification. Using this middleware toolkit, one can develop the control, identification, or intelligent algorithms without coding platform constraint.
ISSN:2159-3442
2159-3450
DOI:10.1109/TENCON.2009.5396231