Please use this identifier to cite or link to this item: https://doi.org/10.1023/A:1008169919184
Title: Flexible control architecture for mobile robots: an application for a walking robot
Authors: Atienza, R.O.
Ang Jr., M.H. 
Issue Date: Jan-2001
Source: Atienza, R.O., Ang Jr., M.H. (2001-01). Flexible control architecture for mobile robots: an application for a walking robot. Journal of Intelligent and Robotic Systems: Theory and Applications 30 (1) : 29-48. ScholarBank@NUS Repository. https://doi.org/10.1023/A:1008169919184
Abstract: To get the best features of both deliberative and reactive controllers, present mobile robot control architectures are designed to accommodate both types of controller. However, these architectures are still very rigidly structured thus deliberative modules are always assigned to the same role as a high-level planner or sequencer while low-level reactive modules are still the ones directly interacting with the robot environment. Furthermore, within these architectures communication and interface between modules are if not strongly established, they are very complex thus making them unsuitable for simple robotic systems. Our idea in this paper is to present a control architecture that is flexible in the sense that it can easily integrate both reactive and deliberative modules but not necessarily restricting the role of each type of controller. Communication between modules is through simple arbitration schemes while interface is by connecting a common communication line between modules and simple read and/or write access of data objects. On top of these features, the proposed control architecture is scalable and exhibits graceful degradation when some of the modules fail, similar to the present mobile robot architectures. Our idea has enabled our four-legged robot to walk autonomously in a structured uneven terrain.
Source Title: Journal of Intelligent and Robotic Systems: Theory and Applications
URI: http://scholarbank.nus.edu.sg/handle/10635/60333
ISSN: 09210296
DOI: 10.1023/A:1008169919184
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

14
checked on Dec 13, 2017

WEB OF SCIENCETM
Citations

7
checked on Dec 13, 2017

Page view(s)

14
checked on Dec 9, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.