A lightweight software architecture for robot navigation and visual logging through environmental landmarks recognition

Author

Ardizzone, Edoardo ; Chella, Antonio ; Macaluso, Irene ; Peri, Daniele

Author_Institution

DINFO, Univ. degli Studi Palermo

fYear

0

fDate

0-0 0

Lastpage

390

Abstract

A robot architecture with real-time performance in navigation tasks is presented. The system architecture is multi-threaded with shared memory and fast message passing through static signalling. In this paper, we focused on the reactive layer components and its straightforward implementation. The proposed architecture is described with reference to an experimental setup, in which the robot task is visual logging of environmental landmarks detected on the basis of sensor readings. Our experimental results show how the robot is able to identify, make snapshots and log a set of landmarks by matching 2D geometric patterns

Keywords

image recognition; message passing; multi-threading; navigation; pattern matching; robot vision; shared memory systems; software architecture; 2D geometric pattern matching; environmental landmark recognition; lightweight software architecture; message passing; multithreaded system architecture; robot architecture; robot navigation; shared memory system; static signaling; visual logging; Actuators; Computer architecture; Message passing; Navigation; Orbital robotics; Robot kinematics; Robot programming; Robot sensing systems; Software architecture; Yarn;

fLanguage

English

Publisher

ieee

Conference_Titel

Parallel Processing Workshops, 2006. ICPP 2006 Workshops. 2006 International Conference on

Conference_Location

Columbus, OH

ISSN

1530-2016

Print_ISBN

0-7695-2637-3

Type

conf

DOI

10.1109/ICPPW.2006.11

Filename

1690724