High level software architecture for autonomous mobile robot

4ObstacleclassificationStatic obstacleDynamic obstacleAvoidable ?nonoAvoidable ?yesReplanReport failureReason: trappedReport okyesDetermineavoidingmethodVelocitytuningReplanFigure 3. Avoid obstacle taskoutdoorCompass (φ)GPS (x,y)GloballocationOdometry (x,y,φ)IR beacons (x,y,φ)indoorlocalizationTaskManagerIR (distance)US (distance)Sick (dl - range)Local info&MappingCurrenttaskcamera (road,…)Perception layerFigure 4. Perception modulesThe architecture is modular, which can further be demonstrated on indoor/outdoorperception module, see Figure 4. All the sensors (apart from internal robot HWstate check) can be divided into two groups, regardless the environment: globallocation data and local environment data. Local information is directly used forobstacle avoidance and indirectly for determining the global location estimate vialocalization. Therefore the architecture can use generalized perception modules,use it for the given tasks as information sources and modules themselves updatethe environment model depending on sensors available and environment type therobot is currently in. This way the indoor/outdoor fuses simply into environment.