The Control Architecture of the Mobile System Priamos
1993; Elsevier BV; Volume: 26; Issue: 1 Linguagem: Inglês
10.1016/s1474-6670(17)49331-1
ISSN2589-3653
AutoresRüdiger Dillmann, Jürgen Kreuziger, Frank Wallner,
Tópico(s)Distributed Control Multi-Agent Systems
ResumoIn this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches
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