Reactive layer control architecture for autonomous mobile robots

2005 ◽  
Author(s):  
Sung-Yong Jeon ◽  
Hyung-Jin Kim ◽  
Keum-Shik Hong ◽  
Byung-Kook Kim
Keyword(s):  
Mobile Robots ◽  
Autonomous Mobile Robots ◽  
Control Architecture ◽  
Layer Control

scholarly journals Functionally Distributed Control Architecture for Autonomous Mobile Robots

2004 ◽  
Vol 16 (2) ◽  
pp. 217-224 ◽  
Author(s):  
Tetsuya Taira ◽  
◽  
Nobuyuki Yamasaki
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Distributed Control ◽  
Auditory Processing ◽  
Autonomous Mobile Robots ◽  
Control Architecture ◽  
Human Society ◽  
Processing Unit ◽  
Real Time Control ◽  
Time Control

This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.

A concurrent control architecture for autonomous mobile robots using Asynchronous Production Systems

1993 ◽  
Vol 1 (4) ◽  
pp. 371-401 ◽  
Author(s):  
S.S. Iyengar ◽  
Jeffrey Graham ◽  
V.G. Hegde ◽  
Phill Graham ◽  
F.G. Pin
Keyword(s):  
Mobile Robots ◽  
Production Systems ◽  
Autonomous Mobile Robots ◽  
Control Architecture ◽  
Concurrent Control
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