1P1-E22 Open Navigation Software for a Mobile Robot using Multi Sensor
Eijiro Takeuchi, Takashi Tsubouchi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2008
This paper describes design and release plan of four softwares for mobile robot navigation. These are SSM for sensor information sharing, OGMM for multi sensor obstacle detection, POET for multi sensor localization and mapping, and SH-Spur for PWS type vehicle controll. These softwares are designed for a normal linux operating system. The sensory data processing software framewoks (SSM, OGMM, POET) are designed to modularized manner. These frame works are divided common parts of sensory data processing and depending parts of sensory data processing. These softwares abstracts unified information from multimodal external sensors.