Figure 10.7 The system architecture
robot software architecture and provides the basic implementation of
the robot components, the XML representation and the geometric
visualization of the simulated environment.
Prototype 2: Dynamic behaviour . It extends Prototype 1 in order to
simulate the dynamic behaviour of the robot. It deals with concurrency
and synchronization of sensors and actuators and with the dynamic inter-
action between robot and environment.
Prototype 3: Map building . A graphical application that exemplifies the
exploration of an indoor environment and the construction of an
Prototype 1: Simulated environment
The first prototype develops the basic components of the robot's archi-
tecture and implements their interaction with the simulated environment.
According to the problem specification the environment is described as a
limited area (e.g. a hall in a building) occupied by a set of obstacles (walls,
doors, etc.) and the robot. Thus we introduce the following classes (see
Class Environment represents the robot operational field and is character-
ized by its dimensions and the list of obstacles. We model the operational
field as a rectangular area whose dimensions are expressed with regard to a
Cartesian reference frame. We assume that the origin of the reference frame
coincides with a vertex of the rectangular area.
Class Obstacle represents a physical obstacle that is characterized by a
geometric shape and a position in the environment. We describe an obstacle's
shape as an ordered list of vertices whose position in the environment is