SOFTWARE STRUCTURE FOR A CAMERA BASED MOBILE ROBOT
Mobil robots are commonly used in various application fields. Military projects, space research, deep-sea research, and various robots at work and at home belong to the most significant applications. Material handling and warehousing are also possible environment. In these applications mobile robots are used as autonomous transporting vehicles. However, cooperative systems are rare. This paper presents a proposed software structure for a cooperatively working, camera based mobile robot for order-picking activities in warehousing. Mobile robot applications require complex software background. The implementation of the free navigation, obstacle avoidance and motion control modules is also presented.