オブジェクト指向設計に基づいた自律型移動ロボットの開発支援システム

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  • A Support System Based on an Object-Oriented Design for Developing Autonomous Mobile Robots
  • オブジェクト シコウ セッケイ ニ モトズイタ ジリツガタ イドウ ロボット

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To design and implement controllers for autonomous mobile robots are well known as a complex task. In this paper, we propose an object-oriented design support system for developing autonomous mobile robots. The system consists of three kinds of testing stages; simulation test, ‘actual robot in virtual environment’ test and actual test. The testing stages gradually progress from simulated world to real world. The ‘actual robot in virtual environment’ test, at which an actual robot moves in a real environment without obstacles while being affected by simulated sensors, is significant to maintain the experiments safe. Each testing stage has three control modes; manual mode, playback mode and autonomous mode. In the autonomous mode, a robot can autonomously operate according to a robot control program. The program is available without modifying it for the whole testing stages. This enables us to implement the program rapidly. The proposed system is constructed from software components based on an object-oriented design. An interconnection mechanism between components and a task control mechanism for activating components allow us to design controllers efficiently. To show that the proposed system is useful, an action-based layered controller for navigating a robot is implemented.

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