PLAN EXECUTION MONITORING AND CONTROL ARCHITECTURE FOR MOBILE ROBOTS

被引：33

作者：

NOREILS, FR ^{[1
]}

CHATILA, RG ^{[1
]}

机构：

[1] CNRS,LAAS,F-31077 TOULOUSE,FRANCE

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 02期

关键词：

D O I：

10.1109/70.370506

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the architecture and control structure of mobile robots, We decompose robot functions into modules organized according to their predefined interactions: sensor modules that accomplish various processings on data from physical sensors, effector modules that issue commands to effecters, servo-processes that establish links between perception and action to achieve closed-loop behaviors, and functional units that provide specific functionalities. These modules, and hence the robot system itself, are controlled by a control system that also enables the robot to execute missions (plans) expressed in a command language. We introduce and discuss a generic control system structure, composed of a Supervisor that interprets the plan and oversees its execution, an Executive for operating and managing robot modules and resources, a Surveillance Manager for detecting and reacting to asynchronous events, and an Error Recovery module for local plan mending and correction, Several experimental examples are given.

引用

页码：255 / 266

页数：12

共 31 条

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