In this thesis, an object-oriented software library is proposed to support efficient development of various applications for intelligent mobile robot. In general, it is difficult to develop application programs for robot system because of needs for controlling devices and integrating results from various researches.
The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility and reliability. Mobile robot system is well suited to object-oriented paradigm in that it is composed of two groups of objects, i.e. device and control objects.
The device objects are implemented and organized into hierarchy of generic parent class and device-specific subclass. Each control object is defined as a behavior which achieves its own task independently of others. Additionally, RPC(Remote Procedure Call) and semaphore are implemented to support application developments on distributed system architecture.
The proposed software library is applied to real-time landmark recognition and tracking system for our intelligent mobile robot, CAIR-2.
