Reactive layer control architecture for autonomous mobile robots

被引：0
|
作者：
Jeon, SY [1 ]
Kim, HJ [1 ]
Hong, KS [1 ]
Kim, BK [1 ]
机构：
[1] Pusan Natl Univ, Sch Mech Engn, Pusan 609735, South Korea
来源：
ICMIT 2005: CONTROL SYSTEMS AND ROBOTICS, PTS 1 AND 2 | 2005年 / 6042卷
关键词：
control architecture; reactive layer; real-time operating system; RTAI; behavior-based;
D O I：
10.1117/12.664778
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a real-time reactive mechanism in the hybrid deliberate/reactive control architecture was proposed. The real-time reactive layer consists of resources, behaviors, an action coordinator, and a controller. Each resource offers an independent sensor information. To improve real-time characteristics, individual behaviors and the action coordinator were designed to fulfill the realtimeness in executing each component in RTAI (Real-Time Application Interface for Linux). The effectiveness and the real-time characteristics of the proposed reactive mechanism were verified by computer simulations of preplanned scenarios.
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页数：6
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