Integration of reactive navigation with a flexible parallel hardware architecture

Author

Collins, Thomas R. ; Arkin, Ronald C. ; Henshaw, Andrew M.

Author_Institution

Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

271

Abstract

AuRA (autonomous robot architecture), a hybrid, schema-based software architecture encompassing aspects of both deliberative and reactive control is described. A flexible, real-time, message-passing hardware platform for the development of AuRA and other software architectures is also presented. To demonstrate their flexibility and portability, they were integrated within a very short period to be used in a mobile robot competition. The experience confirmed the advantages of onboard computational capability in mobile systems

Keywords

computerised navigation; intelligent control; mobile robots; parallel architectures; path planning; robot programming; ANIMA hardware; AuRA; autonomous robot architecture; deliberative control; flexible parallel hardware architecture; hybrid architecture; integration; message-passing hardware platform; mobile robot competition; onboard computational capability; reactive control; reactive navigation; schema-based software architecture; Computational intelligence; Computer architecture; Hardware; Intelligent robots; Intelligent sensors; Machine intelligence; Mobile robots; Navigation; Robustness; Software architecture;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291994

Filename

291994