HIGH LEVEL SOFTWARE FOR AUTONOMOUS RACING ROBOT

Abstract eng:
The paper describes the high level software issues in the task of autonomous robot driving on the park pavement. The wheel robot is equipped with limited number of sensors - odometry IRC sensor on front wheels and vision sensor represented by digital camera. The task in question is to use the sensor data in order to autonomously navigate on the path given in predefined map. The map is given in RNDF (Road Network Definition File) format specified by DARPA. The path to be taken by the robot is given in the MDF file (Mission Definition file), which contains the sequence of check points in RNDF format. The paper gives detail information on the development of software tools for the task and describes our experience with testing different ways of sensors data acquisition.

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