Federal University of Sergipe/Computer Department, São Cristovão, Brazil

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Abstract—Mobile robots offer a wide range of applications in educational and research fields. Sensing, planning, control, reasoning, and learning are human-like capabilities that can be artificially replicated in a computer-based robotic system as software applications. The development of software for mobile robot application is a complex task due to the fact that the wide range of robots are composed of heterogeneous hardware components which need different device software drivers and different low-level communication protocols. This paper presents a Client/Server Message Oriented Middle for Mobile Robots which separates the user application from the hardware and low-level implementation. The middleware has been already ported to two different robotic platforms. As a case study, a path planning and self-localization algorithms have been implemented and applied successfully.

Index Terms—mobile robots, robotic middleware, message oriented middleware

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Cite: Danilo H. F. Menezes, Marco T. Chella, and Hendrik T. Macedo, "A Client/Server Message Oriented Middleware for Mobile Robots," Journal of Software vol. 7, no. 5, pp. 1155-1163, 2012.