NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Architecture for Control of the K9 RoverSoftware featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan.
Document ID
20100014161
Acquisition Source
Ames Research Center
Document Type
Other - NASA Tech Brief
Authors
Bresina, John L.
(NASA Ames Research Center Moffett Field, CA, United States)
Bualat, maria
(NASA Ames Research Center Moffett Field, CA, United States)
Fair, Michael
(QSS Group, Inc. Moffett Field, CA, United States)
Wright, Anne
(QSS Group, Inc. Moffett Field, CA, United States)
Washington, Richard
(Research Inst. for Advanced Computer Science Moffett Field, CA, United States)
Date Acquired
August 24, 2013
Publication Date
March 1, 2006
Publication Information
Publication: NASA Tech Briefs, March 2006
Subject Category
Man/System Technology And Life Support
Report/Patent Number
ARC-14587-1
Distribution Limits
Public
Copyright
Public Use Permitted.
No Preview Available