DocumentCode :
613644
Title :
Implementation of a subsumption based architecture using model-driven development
Author :
Turner, J.T. ; Givigi, Sidney N. ; Beaulieu, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, ON, Canada
fYear :
2013
fDate :
15-18 April 2013
Firstpage :
331
Lastpage :
338
Abstract :
This paper describes the implementation of a subsumption architecture by using Model Driven Development in a real-time physical platform. The behaviours are implemented as finite state-machines and are guaranteed to be executed in real-time while avoiding deadlocks. The platform used is compatible with Robot Operating System, which is becoming the de facto standard for robotics applications nowadays. The sensors used for supporting the behaviours implemented are a Light Detection and Ranging and an Inertial Measurement Unit. The main contribution of this paper is in experimentally demonstrating a functional implementation, using Model Driven Development, of a multi-layer subsumption based autonomous robotics control. The paper shows, through experimentation, that the implementation of the architecture is reliable and efficient. With the success of the implementation in one platform, future development of subsumption in multiple platforms may be tried.
Keywords :
control engineering computing; finite state machines; mobile robots; operating systems (computers); real-time systems; sensors; software architecture; finite state-machine; functional implementation; inertial measurement unit; light detection and ranging; model-driven development; multilayer subsumption based autonomous robotics control; real-time physical platform; robot operating system; robotics application; sensor; subsumption based architecture; Collision avoidance; Laser radar; Object oriented modeling; Real-time systems; Robot sensing systems; Unified modeling language; mobile robots; model-driven development; robot control; subsumption;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems Conference (SysCon), 2013 IEEE International
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4673-3107-4
Type :
conf
DOI :
10.1109/SysCon.2013.6549902
Filename :
6549902
Link To Document :
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