DocumentCode
892112
Title
A practical implementation of a hierarchical control system for telerobotic land vehicles
Author
Byrne, Raymond H.
Author_Institution
Sandia Nat. Lab., Albuquerque, NM, USA
Volume
7
Issue
10
fYear
1992
Firstpage
22
Lastpage
26
Abstract
A hierarchical control architecture for telerobotic vehicles intended to yield a modular, flexible, and easily expanded control system is presented. This architecture is proposed for applications where simple teleoperation is required, but where additional capabilities might be quickly added without major changes to the control system. Similarities to the NASREM architecture are noted. Results for the hardware implementation of the control system on a telerobotic vehicle, RAYBOT, are given.<>
Keywords
computerised control; control systems; hierarchical systems; mobile robots; telecontrol; NASREM architecture; RAYBOT; hierarchical control; telerobotic land vehicles; Control systems; Hardware; Laboratories; Land vehicles; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; Telerobotics; Testing;
fLanguage
English
Journal_Title
Aerospace and Electronic Systems Magazine, IEEE
Publisher
ieee
ISSN
0885-8985
Type
jour
DOI
10.1109/62.161489
Filename
161489
Link To Document