Author(s)

N. Pons, S. Delaplace & J. Rabit

Abstract

A mobile robot architecture dedicated to asynchronous events management N. Pons, S. Delaplace & J. Rabit Laboratoire de Robotique de Paris, Universite Pierre et Marie Curie, Tour 66, 2eme etage, 4 f face J%6Me%, 73252 Pans CWez 03, France ABSTRACT Within the L.R.P. mobile robot project ROMEO (French acronym for an experimental autonomous robot) figure 1, we have developed a dedicated software architecture. This architecture is specifically designed to support manoeuvering requirements such as planning control and contacts management with the environment. After a presentation of the navigation problematic in a constrained environment for a non-holonomic robot, we describe our approach and the soft-and-hardware levels consequences deriving from it. Fundamentally we deal with the elaboration of a very flexible and open architecture, which combines functional and behavioral aspects to cope with asynchronous events and to give to the robot reflexivity.

Keywords