Title :
General software architecture for multi-sensor information fusion system
Author :
Kejun, Zhang ; Jianbo, Su
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., China
Abstract :
In this paper, a general software architecture for multisensor fusion system (MFS) in dynamic environment is described. The architecture has the characteristics of robustness, dynamically reconfigurable framework, "plug-in-play" for sensor, and the predictability of sensor action. According to requirements of MFS, the real-time operating system (RTOS) is applied in this software architecture. The result is an RTOS-based software architecture, which consists of five kinds of tasks: sensor sampling task (SST), sensor data processing task (SDPT), fusion task (FT), management task (MT) and man/machine interface task (MMIT). A calligraphic robot has been designed and developed in our lab based on the software architecture proposed.
Keywords :
operating systems (computers); real-time systems; robot programming; sensor fusion; software architecture; user interfaces; calligraphic robot; dynamic environment; fusion task; man-machine interface task; management task; multisensor information fusion system; plug-in-play sensor; real time operating system; sensor data processing task; sensor sampling task; software architecture; Computer architecture; Data processing; Operating systems; Real time systems; Robot sensing systems; Robustness; Sampling methods; Sensor fusion; Sensor phenomena and characterization; Software architecture;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1342399
