Reactive layer control architecture for autonomous mobile robots

Sung-Yong Jeon; Hyung-Jin Kim; Keum-Shik Hong; Byung-Kook Kim

doi:10.1117/12.664778

2 May 2006 Reactive layer control architecture for autonomous mobile robots

Sung-Yong Jeon, Hyung-Jin Kim, Keum-Shik Hong, Byung-Kook Kim

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423T (2006) https://doi.org/10.1117/12.664778
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

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.

Citation Download Citation

Sung-Yong Jeon, Hyung-Jin Kim, Keum-Shik Hong, and Byung-Kook Kim "Reactive layer control architecture for autonomous mobile robots", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423T (2 May 2006); https://doi.org/10.1117/12.664778

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