3.2.2. Motion

At the highest level of motion, we define the planning layer. In this level we can integrate different software modules, that will be selected depending on the task we want to perform. Some task examples could be reaching a global goal within an environment or following a moving target, such as a vehicle or a pedestrian. For these two examples, we would need two different planners. Planner selection comes from the high-level area of the system. We also receive the robot location from the perception layer and the information obtained through the scene understanding. The intermediate level in motion is the local control. Controllers integrated into this level receive local goals from the upper layer, as well as the robot pose. The lower layer in the motion area is the actuators layer, where the software modules are drivers for communication with the robot motors.
