Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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3-D simulator for development of reactive/deliberative hybrid autonomous robot architecture

자율로봇을 위한 reactive/deliberative hybrid 제어 구조 개발을 위한 3차원 시뮬레이터

  • Yoon, Do-Young (Dept. of Electrcial Engineering, Korea Univ.) ;
  • Kim, Young-Chul (Dept. of Computer Science, Yonsei Univ.) ;
  • Oh, Sang-Rok (Intelligent System Control Research Center, Korea Institute of Science and Technology(KIST)) ;
  • Park, Gwi-Tae (Dept. of Electrcial Engineering, Korea Univ.) ;
  • Cho, Woong-Ryul (Intelligent System Control Research Center, Korea Institute of Science and Technology(KIST)) ;
  • Suh, Il-Hong (Dept. of Electronic Engineering, Hanyang Univ.) ;
  • Kim, Kwang-Bae (Intelligent System Control Research Center, Korea Institute of Science and Technology(KIST))
  • 윤도영 (고려대학교 전기공학과) ;
  • 김영철 (연세대학교 컴퓨터과학과) ;
  • 오상록 (한국과학기술연구원(KIST) 지능제어연구센터) ;
  • 박귀태 (고려대학교 전기공학과) ;
  • 조웅렬 (한국과학기술연구원(KIST)) ;
  • 서일홍 (한양대학교 전자공학과) ;
  • 김광배 (한국과학기술연구원(KIST))
  • Published : 2000.07.17
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Abstract

In the case of designing autonomous robot architecture using deliberative and reactive control methods, we can use mixed hybrid form as well as purely reactive scheme or purely deliberative scheme respectively according to its own goal and environment within the robot operates, It needs time and endeavors to design robot control architecture in either case above. In our research, we implemented a 3-dimensional robot simulator in order to help designing reactive/deliberative autonomous robot control architecture by offering methods which is capable of selecting design parameters and confirming its performances. It can be used, of course, to design purely reactive or purely deliberative architecture. The architecture and performance of simulator is shown and a sample hybrid robot architecture designed with the simulator is introduced in this article.

Keywords