A modular structure for the control of an autonomous mobile robot
Abstract
A hierarchically organized robot control structure is described. Four steps were achieved: characterization of the basic element types composing the functional layer, and identification of interaction modes between the different components of the control structure; specification and implementation of specific communication mechanisms to support these interaction modes in the control structure; study of the module structure, and its control; implementation of the system and validation by several experiments. One of the major aspects of this system is the possibility to program the robot's reactivity according to the mission requirements. Another important aspect is the ability to modify the relationships between modules during mission execution.
- Publication:
-
Ph.D. Thesis
- Pub Date:
- February 1992
- Bibcode:
- 1992PhDT........33P
- Keywords:
-
- Dynamic Response;
- Robot Control;
- Robot Dynamics;
- Autonomy;
- Communication;
- Distributed Parameter Systems;
- Real Time Operation;
- Robots;
- Synchronism;
- Mechanical Engineering