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RIDE Architecture and Tools


RIDE Architecture

The different tools included in RIDE are shown in next figure. RoboCAN is a CAN based communication system to connect sensors and actuators with the onboard computer. IPC (Copyright 1991 Christopher Fedor and Reid Simmons) is the Interprocess Communication System that connects all the onboard control modules (obstacle avoidance, localization, etc) via the CENTRAL module. RoboGraph is a Petri net based tool to program and coordinate the activity (tasks) of these middleware modules. JIPC is an IPC like communication system that connects the different robots and users to the main building control unit via the JCENTRAL module. The Robot Web Interface module belongs to both systems (IPC and JIPC) and acts as a gateway exchanging messages between them.



IPC Modules

JIPC Modules


Other Tools