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Developing an open mobile robot has been a hot topic in the AI area. In an open system, a particular component can be easily added and/or replaced. In this paper, a modular and object oriented approach is used to construct an autonomous mobile robot system. IPC (interprocess communication), which is the key mechanism in the Linux/Unix operating system, is applied to the robot design. Based on the Windows operating system, the robot owns an omnivision, and can finish tasks such as navigation and robot soccer. With a modular design, new components can be easily added to the system. Finally, the robot is applied to several tasks. The experimental results show the good performance of the robot.