Title :
On the design and implementation of a control architecture for a mobile robotic system
Author :
Sousa, J. Borges ; Pereira, F. Lobo ; Silva, E. Pereira da ; Martins, A. ; Matos, A. ; Almeida, J. ; Cruz, N. ; Tunes, R. ; Cunha, S.
Author_Institution :
Fac. de Engenharia, Porto Univ., Portugal
Abstract :
In this article, we describe the analysis, design and implementation of a control architecture for a mobile platform to autonomously carry out transportation, surveillance and inspection tasks in semi-structured industrial environments. Based on a hierarchical structure composed by the organization, coordination and functional levels organized linguistically and structured according to the principle of increasing precision with decreasing intelligence, this control architecture permits the real-time parallel execution of tasks
Keywords :
hierarchical systems; industrial robots; mobile robots; real-time systems; control architecture; coordination level; functional level; hierarchical structure; inspection; linguistic organization; mobile platform; mobile robotic system; organizational level; real-time parallel task execution; semi-structured industrial environments; surveillance; transportation; Control systems; Electrical equipment industry; Guidelines; Humans; Mobile robots; Navigation; Road transportation; Robot kinematics; System testing; Vehicles;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506590
