Control system design schemata and their application in off-road robotics [Elektronische Ressource] / Bernd-Helge Schäfer

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• Informatik

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• Publié par: technische_universitat_kaiserslautern
• Publié le: 01 janvier 2011
• Nombre de lectures: 39
• Langue: English
• Poids de l'ouvrage: 60 Mo

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Robot Control Design Schemata { Applications in O -road Robotics
B.-H. Schafer

Bernd-Helge Schafer was born in Mainz at the river Rhine
in 1979. Mr. Schafer studied informatics at the University
of Kaiserslautern. Since 2003 he was student in the PhD
Programme of the Department of Computer Sciences. In
2005 Mr. Schafer graduated in the context of the coop-
eration between the Robotics Research Lab (University of
Kaiserslautern) and the Unmanned Vehicle Centre at the
RoyalMilitaryAcademyBelgium. Until 2010, Mr. Schafer
worked on design methodology as a research assistant at
the Robotics Research Lab.
In this doctoral thesis, a novel design approach is proposed
which combines action orientation and perception orien-
tation into one coherent methodology. More precisely, de-
sign schemata for representation, translation, and fusion of
environmental information are developed which establish
thorough abstraction mechanisms between components.
Furthermore, a set of design guidelines for the application
of the schemata is proposed. The explicit introduction of Bernd-Helge Schaferabstractions particularly supports extensibility and scala-
bility of robot control systems by design. The proposed
schemata furthermore allow for the ne-grained reuse of
Robot Control Design Schemata andsoftware components. The validity of the methodology is
shown in a large-scale application study on the o -road their Application in O -road Robotics
platform RAVON.
RLAB
THEROBOTICSRESEARCHLABControl System Design Schemata and their
Application in O-road Robotics
Dipl.-Inf. Bernd-Helge Schafer
Vom Fachbereich Informatik der
Technischen Universitat Kaiserslautern
zur Verleihung des akademischen Grades
Doktor der Ingenieurwissenschaften (Dr.-Ing.)
genehmigte Dissertation.Die Deutsche Nationalbibliothek verzeichnet diese Publikation in der Deutschen Nationalbibliografie;
detaillierte bibliografische Daten sind im Internet über
abrufbar.
ISBN 978-3-86853-865-6
Zur Begutachtung eingereicht am: 24. November 2010
Datum der wissens. Aussprache: 24. Februar 2011
Vorsitzender: Prof. Dr. Stefan Deßloch
Erster Berichterstatter: Prof. Dr. Karsten Berns
Zweiter Berichterstatter: Prof. Dr. Frank Kirchner
Dekan: Prof. Dr. Arnd Poetzsch-Heffter
Zeichen der TU im Bibiliotheksverkehr: D 386
© Verlag Dr. Hut, München 2011
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Tel.: [phone]
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1. Auflage 2011
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First of all I would like to thank Prof. Dr. Karsten Berns for giving me the opportunity to
study one of the most interesting subjects in mobile robotics. He has always taken his time
for talking over my ideas and worries and contributed essentially to my work with inspiring
visions of what would be possible next. Furthermore, I want to thank Prof. Dr. Frank
Kirchner for reviewing in particular the software-technological aspects of this Doctoral
Thesis.
For supporting my application for the PhD Programme, I want to thank Prof. Dr. Zim-
mermann, Prof. Dr. Wiehagen, and Prof. Dr. Cullum as well as their research assistants
Andreas Metzger, Thorsten Michels, and Matthias Redenbach. During the initial phase
in the PhD Programme, Prof. Dr. Stefan De loch was a reliable contact for many of my
questions. Therefore, I was very happy that he also agreed to chair my scientic defence.
Thanks for the wide scientic and administrative support in that time. Further thanks go
to Prof. Dr. Klaus Madlener for challenging my pride and to Prof. Dr. Jurgen Avenhaus
for providing me with the self-condence I needed. Your theory courses { and in particular
some of the side notes { have been a source of inspiration for both my work and my living.
I would like to thank my colleagues at the Robotics Research Lab for the unique
amicable working environment, the many discussions, hands given, and parties celebrated
throughout my whole time in Kaiserslautern. Special thanks in that context go to Tim
Braun and Martin Proetzsch with whom I have been working on the ravon platform from
the very beginning. The matchless team work and the impulses whenever I thought to
have reached a dead-end in my scienti