Abstract
Abstract In this paper a framework for constructing flexible, robust and efficient software applications for multisensor fusion system (MFS) is described. Three-tier architecture is exploited so that the whole software system can be divided into three parts: man/machine interface, logic part and database. Design of logic part according to requirements of MFS is emphasized in this paper by using component object model (COM). The result is a COM-based software architecture, which consists of four levels from bottom to top: sensor driver level (SDL), logical sensor level (LSL), fusion unit level (FUL) and task unit level (TUL). Each level is composed of some components with different functions. An intelligent robot system has been designed and developed in our lab based on the idea of the software frame presented above, and explicit advantages are shown extensively.
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