WRAPPING A MOBILE ROBOT WITH RT-CORBA

Building complex controllers is a major challenge and it is widely accepted that object technology can help with the problem. This is of special relevance in the field of complex robot control, in particular when distribution is necessary. CORBA is a suitable technology for deployment and is well demonstrated in the experimental field and in commercial robots. In this paper we describe the implementation of a real-time object wrapper for a mobile robot using Real-time CORBA technology. This type of wrapping enables the implementation of networked robot control systems with increased degrees of predictability.