Multilayer controller for field robots - High portability and modularity to ease implementation

H. W.  Griepentrog; Claes Lund Jæger-Hansen; Ole Ravn; Nils Axel Andersen; Jens Christian Andersen; T. Nakanishi

Multilayer controller for field robots - High portability and modularity to ease implementation

H. W. Griepentrog, Claes Lund Jæger-Hansen, Ole Ravn, Nils Axel Andersen, Jens Christian Andersen, T. Nakanishi

Research output: Contribution to conference › Paper › Research › peer-review

Abstract

Various autonomous machines and robots exist in agriculture today as research prototypes. In many prototypes software and hardware are designed and developed from scratch. The MobotWare software framework has been used to create an overall system called multilayer controller. MobotWare is a software framework capable of controlling mobile robot platforms in different environments. The RHD is a real-time device server, which operates only as a
hardware interface. The MRC is a low level real-time controller it can control the movements and actions of the robot. The AURS allow connections to advanced sensors and handles tasks like mapping and localization. Along with the MobotWare, machine dedicated firmware controlling specific platforms without internal CAN system has been updated. On the hardware side there has been added various new sensors and a safety circuit. The Multilayer controller has successfully been implemented on two agricultural machines. Future work will include fault tolerant software, introduce compliance to safety standards and update the user interface.

Original language	English
Publication date	2012
Number of pages	6
Publication status	Published - 2012
Event	LAND.TECHNIK - AgEng 2011 : 69th International Conference on Agricultural Engineering - Hannover, Germany Duration: 11 Nov 2011 → 12 Nov 2011

Conference

Conference	LAND.TECHNIK - AgEng 2011
Country	Germany
City	Hannover
Period	11/11/2011 → 12/11/2011

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@conference{d4bfba7e23d34d2a8bc4145a9023ea3b,

title = "Multilayer controller for field robots - High portability and modularity to ease implementation",

abstract = "Various autonomous machines and robots exist in agriculture today as research prototypes. In many prototypes software and hardware are designed and developed from scratch. The MobotWare software framework has been used to create an overall system called multilayer controller. MobotWare is a software framework capable of controlling mobile robot platforms in different environments. The RHD is a real-time device server, which operates only as ahardware interface. The MRC is a low level real-time controller it can control the movements and actions of the robot. The AURS allow connections to advanced sensors and handles tasks like mapping and localization. Along with the MobotWare, machine dedicated firmware controlling specific platforms without internal CAN system has been updated. On the hardware side there has been added various new sensors and a safety circuit. The Multilayer controller has successfully been implemented on two agricultural machines. Future work will include fault tolerant software, introduce compliance to safety standards and update the user interface.",

author = "Griepentrog, {H. W.} and J{\ae}ger-Hansen, {Claes Lund} and Ole Ravn and Andersen, {Nils Axel} and Andersen, {Jens Christian} and T. Nakanishi",

year = "2012",

language = "English",

note = "LAND.TECHNIK - AgEng 2011 : 69th International Conference on Agricultural Engineering ; Conference date: 11-11-2011 Through 12-11-2011",

}

Multilayer controller for field robots - High portability and modularity to ease implementation. / Griepentrog, H. W. ; Jæger-Hansen, Claes Lund; Ravn, Ole ; Andersen, Nils Axel ; Andersen, Jens Christian; Nakanishi, T.

2012. Paper presented at LAND.TECHNIK - AgEng 2011 , Hannover, Germany.

Research output: Contribution to conference › Paper › Research › peer-review

TY - CONF

T1 - Multilayer controller for field robots - High portability and modularity to ease implementation

AU - Griepentrog, H. W.

AU - Jæger-Hansen, Claes Lund

AU - Ravn, Ole

AU - Andersen, Nils Axel

AU - Andersen, Jens Christian

AU - Nakanishi, T.

PY - 2012

Y1 - 2012

N2 - Various autonomous machines and robots exist in agriculture today as research prototypes. In many prototypes software and hardware are designed and developed from scratch. The MobotWare software framework has been used to create an overall system called multilayer controller. MobotWare is a software framework capable of controlling mobile robot platforms in different environments. The RHD is a real-time device server, which operates only as ahardware interface. The MRC is a low level real-time controller it can control the movements and actions of the robot. The AURS allow connections to advanced sensors and handles tasks like mapping and localization. Along with the MobotWare, machine dedicated firmware controlling specific platforms without internal CAN system has been updated. On the hardware side there has been added various new sensors and a safety circuit. The Multilayer controller has successfully been implemented on two agricultural machines. Future work will include fault tolerant software, introduce compliance to safety standards and update the user interface.

AB - Various autonomous machines and robots exist in agriculture today as research prototypes. In many prototypes software and hardware are designed and developed from scratch. The MobotWare software framework has been used to create an overall system called multilayer controller. MobotWare is a software framework capable of controlling mobile robot platforms in different environments. The RHD is a real-time device server, which operates only as ahardware interface. The MRC is a low level real-time controller it can control the movements and actions of the robot. The AURS allow connections to advanced sensors and handles tasks like mapping and localization. Along with the MobotWare, machine dedicated firmware controlling specific platforms without internal CAN system has been updated. On the hardware side there has been added various new sensors and a safety circuit. The Multilayer controller has successfully been implemented on two agricultural machines. Future work will include fault tolerant software, introduce compliance to safety standards and update the user interface.

M3 - Paper

T2 - LAND.TECHNIK - AgEng 2011

Y2 - 11 November 2011 through 12 November 2011

ER -