TSLAM Block Diagram

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T-SLAM Block Diagram
Robot Motion Keiji Files Requires Provides ma
in.c Access to robot hardware Position Motion to
all components trace.c Velocity Motion to all
components Nomad files Controlled Stopping to
all components locomotion.c nomad_basic.c realtime
.c
Access GVG Keiji Files Requires Provides acce
ss.c Access to Robot Motion Robot located on GVG
edge main.c Access to Local Minima trace.c
Control Law Step-Correct Keiji
Files Requires Provides none Access to robot
hardware Motion schema
N-Obstacles Keiji Files Requires Provides gvg
.h Access to robot hardware Sonar reading
array Nomad files realtime.c robot.h us-sonar.c a
ccess.c
Local Minima Keiji Files Requires Provides gv
g.h Access to Local Map or N-obstacles LM
Coordinates to all components Nomad
files realtime.c robot.h us-sonar.c access.c
Edge Trace Keiji Files Requires Provides main
.c Access to Local Minima Robot traversal of GVG
edge trace.c Access to some Control
Law locomotion.c
Control Law Vector Follow Keiji
Files Requires Provides trace.c Access to
robot hardware Motion schema locomotion.c
Local Map Keiji Files Requires Provides gvg.h
Access to N-obstacles Sonar Coordinate
History Nomad files realtime.c robot.h us-sonar.c
access.c
Control Law Projected-Vector Follow Keiji
Files Requires Provides trace.c Access to
robot hardware Motion schema locomotion.c
Meetpoint Homing Keiji Files Requires Provides
main.c Access to Local Minima Robot reaches
meetpoint consistently trace.c Access to Robot
Motion honing.c
ATM Keiji Files Requires Provides gvg.h
Access to Local Map Refined Local Map Nomad
files realtime.c robot.h us-sonar.c access.c
Determine Direction Keiji Files Requires Provide
s main.c Access to GVG datastructure May
update node info in GVG datastrucure det_dir.c Acc
ess to Robot Motion Controls GVG
navigation signiture.c Access to Feature
SLAM Determines completeness May use Feature
Map data to update GVG node data May use
Feature Map data to update robot encoders
GVG Node Registration Keiji Files Requires Provi
des main.c Access to GVG datastructure Stores
node info to GVG datastrucure graph.c gvg.h sign
iture.c
Edge Trace
Depart GVG Keiji Files Requires Provides none
Robot is at Meetpoint (or Edge?) Robot moves to
goal coordinate Access to Robot Motion Access
to Local Minima Access to F-SLAM Navigation
Feature SLAM Keiji Files Requires Provides no
ne Access to robot hardware Feature Map Access
to camera/mirror rig
Control Law F-SLAM Navigation Keiji
Files Requires Provides none Access to robot
hardware Motion Schema Access to Feature Map
Control Law Dumb Navigation Keiji
Files Requires Provides none Access to robot
hardware Motion Schema
Logging Keiji Files Requires Provides log.c I
nitialization Logging access to all other
components log.h Visual playback of logged
info Log-Funcs/display.c Console output for
debugging
X-Display Keiji Files Requires Provides marki
ng.c Initialization X-display access to all
other components graphic_tools.c/h Real-time
visual output Display-Funcs/display.c
Console Interface Keiji Files Requires Provides
data_print.c Initialization Terminal output
access to all other components menu.c/h Run-time
configuration options Individual component
execution (debugging or simple demo) Overall
execution control
Auxiliary / Math Functions Keiji
Files Requires Provides calc_funcs.c
Initialization Helpful computation access to all
other components gvg.h access.c