Title :
On the design of the PO-ROBOT system
Author :
Pereira da Silva, E. ; Borges Sousa, Joao ; Lobo Pereira, Fernando ; Sequeira, Junieta ; Ribeiro, Igor
Author_Institution :
Inst. Superior de Engenharis do Porto, Portugal
Abstract :
This paper describes the main design options of the PO-ROBOT project. The PO-ROBOT project consists in the design and the implementation of the vehicle and mission management systems of a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. This project is funded by the NATO programme science for stability and the institute for systems and robotics. The vehicle and mission management systems are based in a hierarchical control structure organized linguistically permitting the parallel execution of tasks in real-time. This architecture is composed by the following three levels structured according to the increasing precision with decreasing intelligence principle: organization, coordination and functional layer.
Keywords :
factory automation; hierarchical systems; inspection; intelligent control; mobile robots; navigation; ALBATROS; PO-ROBOT system; autonomous transportation; coordination; functional layer; hierarchical control structure; industrial environments; inspection; intelligent control; mobile platform; organization; parallel execution of tasks; surveillance; vehicle/mission management systems; Electrical equipment industry; Environmental management; Inspection; Mobile robots; Project management; Remotely operated vehicles; Service robots; Stability; Surveillance; Transportation;
Conference_Titel :
Intelligent Vehicles '94 Symposium, Proceedings of the
Print_ISBN :
0-7803-2135-9
DOI :
10.1109/IVS.1994.639577
