THE CONTROL ARCHITECTURE OF THE PRIAMOS MOBILE SYSTEM

被引：0

作者：

DILLMANN, R

KREUZIGER, J

WALLNER, F

机构：

[1] Department of Computer Science, University of Karlsruhe, Institute for Real-Time Computer Control Systems and Robotics, 76128 Karlsruhe

来源：

CONTROL ENGINEERING PRACTICE | 1994年 / 2卷 / 02期

关键词：

INTELLIGENT MACHINES; NAVIGATION; HIERARCHICALLY INTELLIGENT CONTROL; ARCHITECTURE; OBSTACLE AVOIDANCE; ROBOTS; SENSORS;

D O I：

10.1016/0967-0661(94)90216-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the control architecture of the PRIAMOS mobile robot system is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationally less expensive than in previous approaches.

引用

页码：341 / 346

页数：6