The control architecture of the priamos mobile system

✍ Scribed by R. Dillmann; J. Kreuziger; F. Wallner

• Publisher: Elsevier Science
• Year: 1994
• Tongue: English
• Weight: 567 KB
• Volume: 2
• Category: Article
• ISSN: 0967-0661
• DOI: 10.1016/0967-0661(94)90216-x

✦ Synopsis

In this paper the control architecture of the PRIAMOS mobile robot system is presented, h consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known componen~ in the environment. A solution for the problem of how to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which wu necessary to apply the idea of reflexive navigation is described in more detail. The architecture presented allows motion tasks to be executed in partially unknown or changing environment in an efficient manner. Especially, the time-critical reflexive level is computationaily less expensive titan in previous approaches.