general:

• Operating System Ubuntu 14.04 www.ubuntu.com
• Robot Software (ROS) http://ros.org
• parts of the software are based on FroboMind

visualisation tool:

node graph:

rough Programming structure

• using laserscanner for obstacle avoidance
• IMU set orientation angle
• absolute position gets evaluated by the signals of IMU, RTK-GPS and wheel encoders
• 3 Layer architecture
  • Deterministic path planning
  • security layer
  • obstacle avoidance