Desarrollo de una arquitectura de software para el robot móvil Lázaro

Abstract

This article describes the development of software architecture for the mobile robot Lázaro, developed at the Laboratorio de Prototipos of Universidad Nacional Experimental del Táchira. The designed architecture has three levels: a basic level that manages the use of the various elements of a robot at a low level. A second level of development consisting of a set of libraries that allows generating robot control applications together with the base level. Finally, interface level that allows control and programming of Lázaro at a high level. This layer provides the user with an interface consisting of a direct control panel and a 3D simulator, where the user can observe the actions that running the actuators; also the user can monitor sensory information and you can program instructions to be executed by the mobile robot. Finally, several test cases are presented to verify the functionality and capabilities of this architecture developed in C#.