Title :
A layered control system for a caterpillar tracked vehicle
Author :
Adam, M.D. ; Probert, P.J.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
Describes a design for a high bandwidth controller for a guided vehicle. A particular feature of the controller is that it is layered, being based on the ideas behind the subsumption architecture of Brooks (1985), rather than hierarchical. This leads to versatility in operation and facilitates a structured implementation of the controller. Another emphasis feature is on hardware as well as software to achieve real time performance
Keywords :
computerised navigation; control systems; mobile robots; real-time systems; caterpillar tracked vehicle; computerised navigation; design; guided vehicle; high bandwidth controller; layered control system; mobile robots;
Conference_Titel :
Off-Highway Vehicle Control Systems, IEE Colloquium on
Conference_Location :
London
