抄録
This paper describes a new software architecture to control an autonomous mobile robot. In order to construct a multipurpose robot which is able to do various tasks in an office or a factory, it is necessary that the architecture of the robot control system should be changeable according to a given task, and the rules of the behavior should also be changeable dynamically. In order to realize such property, the authors developed a new architecture for the communication between software modules, each of which controls individual part of the robot. The architecture is based on ‘event exchange’ under the controlling of an event forwarding server, called ‘event pool’. With this architecture it is possible to re-construct the control system of the robot easily and to make the robot to adapt to its environment.
