Motion control module for an autonomous mobile robot

We analyse the motion control module implemented on the autonomous mobile robot B21 as part of the specific software architecture developed for the SFB 527, called integration of symbolic and subsymbolic information processing in adaptive sensory-motor systems. The motion control module is first located the lowest layer of the architecture. Its functionalities are path control skill, position control skill, via-point navigation skill, and put-through skill. The interfaces to other modules and the configuration states are defined. The communication tasks are implemented independently of the functionalities in separate threads using the SMART^Ulm software frame