A software architecture for behavioral control strategies of autonomous systems

Author

Gachet, D. ; Salichs, M.A. ; Pimentel, J.R. ; Moreno, L. ; de la Escalera, A.

Author_Institution

Dept. Ingenieria de Sistemas y Autom., Univ. Politecnica de Madrid, Spain

fYear

1992

fDate

9-13 Nov 1992

Firstpage

1002

Abstract

The authors deal with the execution of several tasks for mobile robots while exhibiting various primitive behaviors in a simultaneous or concurrent fashion. The architecture allows for learning to take place, and at the execution level it incorporates the experience gained in executing primitive behaviors as well as the overall task. Some empirical rules are provided for the appropriate mixture of primitive behaviors to produce tasks. The architecture has been implemented in OPMOR, a simulation environment for mobile robots, and several results are presented. The performance of the architecture is excellent

Keywords

digital control; mobile robots; position control; software engineering; OPMOR; autonomous systems; digital control; empirical rules; execution level; learning; mobile robots; performance; simulation environment; software architecture; Computer architecture; Control systems; Degradation; Electronic mail; Humans; Mobile robots; Navigation; Robot programming; Software architecture; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-7803-0582-5

Type

conf

DOI

10.1109/IECON.1992.254475

Filename

254475