Robotic Software Architecture for Multisensor Fusion System

摘要

As robotic systems are becoming more complex, distributed, and integrated, there is the need to build sophisticated frameworks to embody intelligence in the robot. This paper presents a component-based software architecture for the integration of industrial robotic platforms with multisensor systems where data fusion is relevant. The architecture is based on an open software robotic platform that is able to fulfill capabilities such as openness, interoperability, adaptability, and modularity, with the addition of hardware in the loop simulator. The resulting robot platform permits easy implementation of model- and sensor-based control concepts, proving to be interesting for robotics research. In addition, it allows the integration of standard industrial components. The entire system has been successfully developed, implemented, and demonstrated for robotic tasks, where multiple and different sensors are required.