Functional System Architecture
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Functional System Architecture
The functionality of the robot can be broadly divided into six major sub-systems – Sensing, Perception, Path Planning, Navigation, Communication and Disposal. As shown in the previous figure, each of these sub-systems may be further sub divided in various functions, on the basis of the data flow, to and from each of these functions.
Sensing
The Sensing subsystem is used to capture data from the surrounding environment. As specified earlier, a camera is the main sensor used in this system. The camera gains the visual data of the environment which is then sent to the operator, so that he may provide an input regarding the mission destination. Subsequently, as the robot travels towards the destination, the camera continuously senses the environment around it and sends this data to the next system in order that the required information is extracted in order to be used for controlling the robot.
Along with the camera, few additional low range sensors may be used in order to aid in avoiding any obstacles that the robot may encounter.
Sensors are also required in order to gain feedback from the actuators in order to satisfactorily control the mobility of the robot.
Perception
The Perception subsystem uses the raw sensor data received from the sensors and uses it to understand this data in order to feed this to the next stage in certain usable form. We can therefore breakdown this subsystem into four major functions as follows,
Destination ID
The visual data from the camera is constantly monitored in order ensure that the robot keeps track of the destination of its target at all times.
Mapping
The Mapping function uses the sensor data to generate a 2D occupancy grid map of all the objects in its immediate frame of view.
Localization
This function enables the robot to calculate its current position, thus helping it to locate its position in the map created by the Mapping function.
Obstacle Detection
This enables the robot to detect any obstacles (of significant size) within its immediate path.
Path Planning
The Path Planning subsystem uses the location of the target provided by the operator, and the map created by the Mapping function, decides the best route and plots a traversable path between the current location and the target destination. This is an iterative process as the path is continually updated using inputs from the sensor feedback.
Navigation