Title :
The Application of Design Schemata in Off-Road Robotics
Author :
Schafer, B.-H. ; Armbrust, C. ; Fohst, T. ; Berns, K.
Author_Institution :
Robot Makers GmbH, Kaiserslautern, Germany
Abstract :
This paper presents a novel concept that combines action-oriented and perception-oriented concepts for the development of robot control systems with the aim to close the semantic gap between the two approaches. Furthermore, the paper describes a representation scheme for a generic modeling of environment data from arbitrary sensors. Formal abstraction and fusion methods are introduced, and their application in the control system of a real robot is demonstrated using the example of the autonomous off-road vehicle RAVON.
Keywords :
control system synthesis; mobile robots; vehicles; RAVON; action-oriented concept; autonomous off-road vehicle; design schemata; environment data; formal abstraction method; fusion method; off-road robotics; perception-oriented concept; representation scheme; robot control system; semantic gap; Design methdology; Intelligent vehicles; Mobile robots; Modeling; Road transportation; Sensors;
Journal_Title :
Intelligent Transportation Systems Magazine, IEEE
DOI :
10.1109/MITS.2012.2217591
