On the design and implementation of a mobile robotic system

Author

Sousa, JBorges ; Pereira, FLobo ; Da Silva, EPereira ; Martins, A. ; Matos, A. ; Almeida, J. ; Cruz, N. ; Tunes, R. ; Cunha, S.

Author_Institution

Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal

fYear

1995

fDate

27-29 Aug 1995

Firstpage

617

Lastpage

622

Abstract

Describes the effort being carried out in the analysis, design and implementation of the control architecture for a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. The control architecture is based in a hierarchical structure organized linguistically permitting the real-time parallel execution of tasks. This architecture is composed of three levels, organization, coordination and functional, structured according to the increasing precision with decreasing intelligence principle

Keywords

hierarchical systems; industrial robots; inspection; intelligent control; mobile robots; motion control; planning (artificial intelligence); autonomous transportation; control architecture; hierarchical structure; increasing precision with decreasing intelligence principle; inspection; mobile robotic system; real-time parallel tasks execution; semi-structured industrial environment; structured industrial environment; surveillance; Control systems; Guidelines; Hardware; Humans; Inspection; Investments; Mobile robots; Road transportation; Robot kinematics; Surveillance;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on

Conference_Location

Monterey, CA

ISSN

2158-9860

Print_ISBN

0-7803-2722-5

Type

conf

DOI

10.1109/ISIC.1995.525123

Filename

525123