Rate Modulation Strategy for Behaviors of a Mobile Robot with Considering Control Stability

제어안정도를 고려한 이동로봇 행동단위의 가변 주기 제어

  • 김홍열 (명지대학교 정보제어공학과) ;
  • 김주민 (명지대학교 정보제어공학과) ;
  • 김대원 (명지대학교 정보제어공학과) ;
  • 양광웅 (한국생산기술연구원)
  • Published : 2003.07.21

Abstract

In this paper, behaviors performing controls of a mobile robots are designed based on the concept of closed-loop controls. A control architecture, in which the behaviors coordinate concurrently with one others to achieve a task is also proposed. In the control architecture, task manager allocates valid resources and configures the weight of the behavior outputs to achieve the task. For practical implementation, a rate modulation strategy based on RMS(Rate Modulation Strategy) is proposed for efficient resource allocations. The rate modulation strategy is performed with considering control stability. The efficiency of the proposed rate modulation strategy is validated through simulation tests.

Keywords