DocumentCode
282051
Title
A layered control system for a caterpillar tracked vehicle
Author
Adam, M.D. ; Probert, P.J.
Author_Institution
Dept. of Eng. Sci., Oxford Univ., UK
fYear
1989
fDate
32665
Firstpage
42430
Lastpage
42432
Abstract
Describes a design for a high bandwidth controller for a guided vehicle. A particular feature of the controller is that it is layered, being based on the ideas behind the subsumption architecture of Brooks (1985), rather than hierarchical. This leads to versatility in operation and facilitates a structured implementation of the controller. Another emphasis feature is on hardware as well as software to achieve real time performance
Keywords
computerised navigation; control systems; mobile robots; real-time systems; caterpillar tracked vehicle; computerised navigation; design; guided vehicle; high bandwidth controller; layered control system; mobile robots;
fLanguage
English
Publisher
iet
Conference_Titel
Off-Highway Vehicle Control Systems, IEE Colloquium on
Conference_Location
London
Type
conf
Filename
198590
Link To Document