DocumentCode :
3242112
Title :
From planning to execution monitoring control for indoor mobile robots
Author :
Noreils, Fabrice R. ; Prajoux, Roland
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear :
1991
fDate :
9-11 Apr 1991
Firstpage :
1510
Abstract :
It is pointed out that the purpose of an autonomous mobile robot is to achieve various tasks while adapting its behavior to the variations of its environment. Therefore, such a robot needs both reflexive and planning capabilities. It appears that combining these is difficult; indeed, some robot architectures exhibit a high degree of reactivity, but poor planning abilities, or vice versa. The authors attempt to show that the integration of reflexive and planning capabilities is feasible. A novel generic architecture, composed of three levels, functional, control, and planner, is proposed. It provides important features such as progressive and programmable reactivity, robustness, and versatility. All these features are described at each level. A complete implementation in an experimental mobile robot is described, and an actual example is presented
Keywords :
mobile robots; monitoring; navigation; planning (artificial intelligence); autonomous mobile robot; execution monitoring control; indoor mobile robots; navigation; path planning; programmable reactivity; Computer science; Computerized monitoring; Mobile robots; Resource management; Robot sensing systems; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
Type :
conf
DOI :
10.1109/ROBOT.1991.131830
Filename :
131830
Link To Document :
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