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Proceedings Paper

Modular robotic architecture
Author(s): Richard P. Smurlo; Robin T. Laird
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Paper Abstract

The development of control architectures for mobile systems is typically a task undertaken with each new application. These architectures address different operational needs and tend to be difficult to adapt to more than the problem at hand. The development of a flexible and extendible control system with evolutionary growth potential for use on mobile robots will help alleviate these problems and if made widely available will promote standardization and cornpatibility among systems throughout the industry. The Modular Robotic Architecture (MRA) is a generic control systern that meets the above needs by providing developers with a standard set of software hardware tools that can be used to design modular robots (MODBOTs) with nearly unlimited growth potential. The MODBOT itself is a generic creature that must be customized by the developer for a particular application. The MRA facilitates customization of the MODBOT by providing sensor actuator and processing modules that can be configured in almost any manner as demanded by the application. The Mobile Security Robot (MOSER) is an instance of a MODBOT that is being developed using the MRA. Navigational Sonar Module RF Link Control Station Module hR Link Detection Module Near hR Proximi Sensor Module Fluxgate Compass and Rate Gyro Collision Avoidance Sonar Module Figure 1. Remote platform module configuration of the Mobile Security Robot (MOSER). Acoustical Detection Array Stereoscopic Pan and Tilt Module High Level Processing Module Mobile Base 566

Paper Details

Date Published: 1 March 1991
PDF: 12 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25501
Show Author Affiliations
Richard P. Smurlo, Naval Ocean Systems Ctr. (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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