A dynamically configurable control architecture for autonomous mobile robots

Author

Sousa, J. Borges ; Pereira, F. Lobo ; da Silva, E. Pereira

Author_Institution

Fac. de Engenharia, Porto Univ., Portugal

Volume

4

fYear

1995

fDate

13-15 Dec 1995

Firstpage

3823

Abstract

This paper presents a dynamically configurable architecture for the control of autonomous mobile robots based on hierarchic structure whose three levels, organization, coordination and functional layer, are organized linguistically. The main contribution is the concept of dynamic reconfigurability where the notion of architecture coordinator plays a crucial role. The design of the functional layer establishes the primitives for dynamic configuration

Keywords

computational linguistics; grammars; hierarchical systems; intelligent control; mobile robots; path planning; robot dynamics; architecture coordinator; autonomous mobile robots; control architecture; coordination layer; dynamic configuration; dynamically configurable control; functional layer; grammar; hierarchic structure; linguistic approach; mission planning; organization layer; primitive function; Actuators; Computer architecture; Computer errors; Control systems; Design methodology; Mobile robots; Payloads; Redundancy; Specification languages; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.479193

Filename

479193