Linux - Open Source White Papers
WALTER: A Water Acquisition Linux Time-Efficient Robot
Overview Robot control is one field that typically requires real-time execution of software to assure timely sensing and actuation necessary for safe and fast movements. In this paper, the authors give a preliminary description of the WALTER virtual robot, developed for the MaRTian Task simulation competition in the scope of RTSS 2005. The robot uses a simple reactive approach to navigate through an environment with holes and obstacles until reaching a given target position. The authors briefly describe the navigation approach and the respective control tasks, as well as two different software architectures, one based on a single Linux process and the other using 5 tasks running on Xenomai. The latter is more efficient since the robot exhibits a higher probability of finding the target faster.
| Publisher | University of Aveiro | File Format | |
|---|---|---|---|
| Date Published | November 2005 | ||
| Format | White Papers | ||
| Topics | |||
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