Test Bench for Robotics and Autonomy： Overview and Test Results  

作　　者：Andrea Merlo Andrea Biggio Giuseppe Casalino EnricaZereik 

机构地区：[1]Thales Alenia Space Italy, Turin 10146, Italy [2]DIBRIS, Engineering Faculty, University of Genoa, Genoa 16145, Italy [3]CNR-ISSIA, National Research Council, Genoa 16149, Italy

出　　处：《Journal of Mechanics Engineering and Automation》2013年第6期378-386,共9页机械工程与自动化（英文版）

摘　　要：In this paper, the TAS-I （Thales Alenia Space-Italy） Test Bench for Robotics and Autonomy （TBRA） is presented. It is based on a flexible and modular software architecture （Framework Engine）, in which each functional module （representing the GNC subsystems） implements a key functionality of the GNC （Guidance Navigation and Control）. Modules communicate by means of standardised interfaces designed for exchange of necessary information among the modules composing the entire system. This approach permits the interchange-ability of each subsystem without affecting the overall functionalities of the GNC system. In this paper, the TBRA system, together with the implemented functional modules will be described. Tests results will be reported and future development will be discussed.

关 键 词：Autonomous exploration rover test bench for robotics and autonomy framework engine. 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U467.523[自动化与计算机技术—控制科学与工程]