Design and implementation of software architecture behavioral-based robot control system using Active Object Computing Model

Author

Putra, B.P. ; Mutijarsa, K. ; Adiprawita, Widyawardana

Author_Institution

Dept. of Electr. Eng., Inst. Teknol. Bandung, Bandung, Indonesia

fYear

2011

fDate

17-19 July 2011

Firstpage

1

Lastpage

6

Abstract

In this paper, we propose software architecture of behavioural-based robot control system using Active Object Computing Model. Active Object Computing Model is a programming technique that combines the three components, Event Driven Programming paradigm, Event Driven Software Architecture and UML State chart formalism. The scope of this project includes the activities of designing and implementing behavior-based navigation system software, designing and building autonomous mobile robot for software implementation, testing, observing and analyzing the behaviour of autonomous mobile robot which is controlled by behaviour-based navigation system software. The software has been tested on an autonomous mobile robot and run on ARM Cortex M3 processor using mbed NXP LPC1768 microcontroller and successfully demonstrated the behaviour of obstacle avoidance and object Following. Software Architecture is built using Quantum Platform™ from Quantum Leaps.

Keywords

Unified Modeling Language; collision avoidance; control engineering computing; microcontrollers; mobile robots; software architecture; ARM Cortex M3 processor; UML state chart formalism; active object computing model; autonomous mobile robot; behavior-based navigation system software; event driven programming paradigm; event driven software architecture; mbed NXP LPC1768 microcontroller; object following; obstacle avoidance; programming technique; quantum leaps; quantum platform; software architecture behavioral-based robot control system; Control systems; DC motors; Noise; Programming; Robots; Testing; Vehicles; ARM Cortex-M3; Active Object Computing Model; Autonomous Mobile Robot; Event Driven Architecture; Event Driven Programming; Quantum Platform™; mbed NXP LPC1728;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering and Informatics (ICEEI), 2011 International Conference on

Conference_Location

Bandung

ISSN

2155-6822

Print_ISBN

978-1-4577-0753-7

Type

conf

DOI

10.1109/ICEEI.2011.6021633

Filename

6021633