DocumentCode :
2388631
Title :
Research on subsumption architecture and application in dynamic programming of robot
Author :
Liu Zhou ; Zhu Qidan ; Yang Dongmei ; Zhang Xiuping
fYear :
2004
fDate :
26-31 Aug. 2004
Firstpage :
522
Lastpage :
526
Abstract :
This paper describes ongointg investigation into the subsumption control of robots. Subsumption architecture is a relatively new and simple approach to the control of robot systems. With subsumption control, the robiot is controlled by a set of simple processes. Each of the process is designed to provided the robot with a simple competence, for example, the ability to avoid contact with obstacles, to wander aimlessly around without hitting things or to explore the robot´s environment. This paper includes: 1) reviewing subsumption architecture; 2) some methods proposedl to improve the emciency of this architecture; 3) the implementation of these methods and primitive abilities, such as, wandering behavior, collision avoidance, and navigation. The enhianced architecture is more effective than the original one.
Keywords :
Automatic control; Collision avoidance; Control systems; Dynamic programming; Educational institutions; Navigation; Process design; Process planning; Robot control; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Mechatronics and Automation, 2004. Proceedings. 2004 International Conference on
Conference_Location :
Chengdu, China
Print_ISBN :
0-7803-8748-1
Type :
conf
DOI :
10.1109/ICIMA.2004.1384250
Filename :
1384250
Link To Document :
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