By Topic

Client-server-based mobile robot control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kubitz, O. ; Informatik, Tech. Hochschule Aachen, Germany ; Berger, M.O. ; Stenzel, R.

A control architecture for an autonomous mobile robot usually consists of two components: (1) intelligent control software and (2) an operating system for resource access. From the point of view of a computer scientist, it is desirable to achieve a certain level abstraction from the resource (be it sensor or effector). Here, this is achieved by introducing a client-server framework for realizing abstract resource access and intelligent control. Hardware details are hidden in a middleware layer, which is inserted in between operating system and applications. In this paper, we present the most important features of our client-server approach. The servers decouple hardware and software dependencies. Communication is realized through the use of classes, offering a wide variety of client-server interaction. Event-driven servers and clients lead to quick responses in dynamic environments. Our approach gives reusability, portability, testability, and maintainability through data abstraction. It was successfully applied in our experimental platform ARS

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:3 ,  Issue: 2 )