Title :
Research on open control architecture of autonomous mobile robot with multi-layer and modularization
Author :
Xiaopen, Li ; Hongwei, Ma ; Zhihui, Zou
Author_Institution :
Sch. of Mech. Eng., Xi´´an Univ. of Sci. & Technolegy, Xi´´an, China
Abstract :
In this paper, basing on the layered agent theory, three-layer distributed robotic control architecture is presented, which is for the requirement of autonomous mobile robot navigation and control in complex environment. Aiming at features of robot navigation in complex environment, control system software and hardware architecture is designed. In this paper, mine rescue robot is taken as example to verify effectiveness of autonomous mobile robot control system.
Keywords :
distributed control; mobile robots; path planning; autonomous mobile robot navigation; complex environment; layered agent theory; mine rescue robot; open control architecture; three-layer distributed robotic control architecture; Communication system control; Computer architecture; Control systems; Decision making; Information processing; Mobile robots; Navigation; Robot control; Robot kinematics; Robot sensing systems; control system architecture; mobile robot; navigation;
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456781
