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
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;
Journal_Title :
Aerospace and Electronic Systems Magazine, IEEE
