제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.1178-1183
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- 2003
Supervised Hybrid Control Architecture for Navigation of a Personal Robot
- Shin, Hyun-Jong (Dept. of Information and Control Eng. Kwangwoon University) ;
- Im, Chang-Jun (Dept. of Information and Control Eng. Kwangwoon University) ;
- Kim, Jin-Oh (Dept. of Information and Control Eng. Kwangwoon University) ;
- Lee, Ho-Gil (Korea Institute of Industrial Technology)
- Published : 2003.10.22
Abstract
As personal robots coexist with a person with a role to help a person, while adapting various human life and environment, the personal robots have to accommodate frequently-changing or different-from-home-to-home environment. In addition, personal robots may have many kinds of different Kinematic configurations depending on the capabilities. Some may have a mobile base and others may have arms and a head. The motivation of this study arises from this not-well-defined home environment and varying Kinematic configuration. So the goal of this study is to develop a general control architecture for personal robots. There exist three major architectures; deliberative, reactive and hybrid. We found that these are applicable only for the defined environment with a fixed Kinematic configuration. Neither could accommodate the above two requirements. For the general solution, we propose a Supervised Hybrid Architecture (SHA), in which we use double layers of deliberative and reactive controls, distributed control with a modular design of Kinematic configurations, and real-time Linux OS. Deliberative and reactive actions interact through a corresponding arbitrator. These arbitrators help a robot to choose an appropriate architecture depending on the current situation to successfully perform a given task. The distributed control modules communicate through IEEE 1394 for the easy expandability. With a personal robot platform with a mobile base, two arms, a head and a pan-tilt stereo eye system, we tested the developed SHA for static as well as dynamic environments. For this application, we developed decision-making rules for selecting appropriate control methods for several situations of navigation task. Examples are shown to show the effectiveness.
Keywords
- Personal Robot;
- Control Architecture;
- Deliberative/Reactive Hybrid Control;
- Modular Controller;
- Arbitrator