Translator Disclaimer
2 May 2006 Reactive layer control architecture for autonomous mobile robots
Author Affiliations +
Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423T (2006)
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China
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.
© (2006) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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);


Design and implementation of a teleautonomous hummer
Proceedings of SPIE (January 25 1998)
Northern Illinois University autonomous mobile robots
Proceedings of SPIE (December 27 1995)
Robotics-Related Technology In The Nuclear Industry
Proceedings of SPIE (December 13 1983)
Adaptive mobility aids for the elderly
Proceedings of SPIE (October 23 2001)
Advanced remote operation of swarms of robots
Proceedings of SPIE (October 25 2004)
Robotic control using sequential function charts
Proceedings of SPIE (December 19 1996)

Back to Top