The problem of virtual sensing organization for robotics

A. A. Petrin


Abstract: The problem of virtual sensing for robotics is investigated. Virtual sensor system architecture is present. The virtual sensor system consists of set of physical, fundamental and virtual sensors. Integration levels for each abstraction level are treated. Integration level for physical level supplies uniform interface and access for hardware. Integration level for fundamental level supplies specific abstract data for upper levels. Virtual sensor integration supplies the area of general abstract data for supervisor. The effectiveness of such representation is considering on examples of mobile robot motion control system.