This paper will discuss components of a modular hardware and software architecture for mobile robots that supports both teleoperation and autonomous control. The Modular Autonomous Robot System architecture enables rapid development of control systems for unmanned vehicles for a wide variety of commercial and military applications.
This paper introduces a proposed approach for robust exterior autonomous navigation, based on the use of redundant, and complimentary position estimation sensors, fused and integrated to provide robust operation. The proposed approach considers constraints due to a combination of theoretical and practical limitations of the sensors performance characteristics, and sensor fusion and integration algorithm limitations. A hypothetical exterior autonomous navigation application is also introduced to illustrate a systems perspective on one class of autonomous navigation, specifically routine autonomous navigation in a known, semi-structured environment. The focus of this paper is primarily on the autonomous vehicles position estimation sensor suite selection, and sensor fusion and integration approach.