CLIENT-SERVER-BASED MOBILE ROBOT CONTROL

A control architecture for all autonomous mobile robot usually consist s of two components: 1) intelligent control software and 2) an operati ng system for resource access. From the poind of view of a computer sc ientist, it is desirable to achieve a certain level abstraction from t he resource (be it sensor or effector). Here, this is achieved by intr oducing a client-server framework for realizing abstract resource acce ss and intelligent control, Hardware details are Ridden in a middlewar e layer, which is inserted in between operating system and application s. In this paper, we will present the most important features of our c lient-server approach. The servers decouple hardware and software depe ndencies, Communication is realized through the use of classes, offeri ng a wide variety of client-server interaction, Event-driven servers a nd clients lead to quick responses in dynamic environments, Our approa ch gives reusability, portability, testability. and maintainability th rough data abstraction, It was successfully applied in our experimenta l platform AWS.