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

Volume

1

fYear

2010

fDate

6-7 March 2010

Firstpage

511

Lastpage

515

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on

Conference_Location

Wuhan

ISSN

1948-3414

Print_ISBN

978-1-4244-5192-0

Electronic_ISBN

1948-3414

Type

conf

DOI

10.1109/CAR.2010.5456781

Filename

5456781