| With the highly developing of technologies in automation, computer science and electrical engineering, we have made great progress in robotics research. As we all know, most robots need to collect a large number of sensor data, process it and take an action quickly. So many robots use onboard PCs for controlling, which demand a powerful operating system. Researchers around the world speak highly of Linux system for its stability, high efficiency and flexibility. Mobile robots with Linux platform support multi-users mode and different login methods so that we can monitor the robots real time and more efficiently.ATRV-Jr robot is used in the article for testing. Firstly, the rFLEX control infrastructure based on Linux and the framework of Mobility software are introduced. Other equipments are added and configured to the robot platform. Then the sensor data sampling, I/O operating and obstacle avoidance algorithms are achieved on Linux system. Finally, robots got the ability to navigate indoor freely and stably with the method of dynamic window approach based on VFH algorithm. |
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