SSS: a hybrid architecture applied to robot navigation

Author

Connell, Jonathan H.

Author_Institution

IBM T.J. Watson Res. Center, Yorktown Heights, NY, USA

fYear

1992

fDate

12-14 May 1992

Firstpage

2719

Abstract

Describes a three-layer architecture, SSS, for robot control. It combines a servo-control layer, a subsumption layer, and a symbolic layer in a way that allows the advantages of each technique to be fully exploited. The key to this synergy is the interface between the individual subsystems. The design of situation recognizers that bridge the gap between the servo and subsumption layers, and event detectors that link the subsumption layers and symbolic layers are discussed. The development of such a combined system is illustrated by a fully implemented indoor navigation example. The resulting robot was able to automatically map office building environments, and smoothly navigate through them at the rapid speed of 2.6 feet per second

Keywords

computerised navigation; mobile robots; servomechanisms; SSS; event detectors; hybrid architecture; indoor navigation; office building environments; robot navigation; servo-control layer; situation recognizers; subsumption layer; symbolic layer; three-layer architecture; Bridges; Control systems; Detectors; Event detection; Navigation; Robot control; Robotics and automation; Servomechanisms; Servosystems; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Conference_Location

Nice

Print_ISBN

0-8186-2720-4

Type

conf

DOI

10.1109/ROBOT.1992.219995

Filename

219995