Abstract
The object-oriented approach with the basic control modules has been defined and experimented for the design and implementation of a robot motion controller : it appears that this method brings openness to the system, allowing a concurrent access for any subsystems. This approach clarifies the interface between functional and control viewpoints : it helps the programmer that can easily specify and modify the control without changing the functional subsystems implementation. Moreover, this method is suited for mobile robots because control can be dynamically specified. But, it would be interesting in the future to relate this object- oriented method to a formal representation of such a dynamic control that could be used to validate critical features such as absence of dead-locks and compliance with temporal constraints.
This work is developed within RAMINA, a research project performed by Alcatel Alsthom Recherche, the corporate research center of Alcatel Alsthom, in collaboration with FRAMATOME.
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© 1993 Springer-Verlag London Limited
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Chochon, H. (1993). Object-oriented design of mobile robot control systems. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036148
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DOI: https://doi.org/10.1007/BFb0036148
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