Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1991 · 237 citations · 0 references
EngineeringAutonomous SystemsRobotics EngineeringAutonomous VehiclesMobile RoboticsRoboticsAutonomous NavigationMobile Robot ControlReal-time ControlRobot Control ArchitectureRobot LocalizationRobot NavigationAutonomous Vehicle ControlCommunication InterfacesLocalization ControlPosition EstimationReal-time CommunicationReal-time Motion ControlReal-time Robot ControlReal-time Robot Control Architectures
This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.