A software architecture for mobile robot navigation
This conference paper was originally published as McKerrow, PJ, Antoun S and Worth, P, A software architecture for mobile robot navigation, Proceedings TAROS'08, Edinburgh, 1-3 September 2008, 185-192.
Directed sensing poses the problem of sensing in specific directions in synchronisation with robot motion while avoiding collisions with objects in other directions. The rebuild of an outdoor mobile robot, with the goal of mimicking a blind person navigating with echolocation, has provided the opportunity to experiment with a state machine based software architecture for landmark navigation. In this paper, we discuss the rebuild of the robot, the software architecture and an initial experiment in collision avoidance.
P. J. McKerrow. "A software architecture for mobile robot navigation" Faculty of Informatics - Papers.. Sep. 2008.
Available at: http://works.bepress.com/pmckerrow/12