Software architecture

The functionnal architecture contains mainly two functions:

• a navigation functionality used to move the robot on the airport to reach runway extremities;
• a line following functionality used to follow the lights line at a constant speed for the lighting control.

The software architecture is based on the control architecture embedded on an ONERA platform, Robotnik Summit-XL. The robot is equipped with a IMU (Inertial Measurement Unit), a GPS sensor, Hokuyo laser sensors and a video camera.