한국공작기계학회논문집 (Transactions of the Korean Society of Machine Tool Engineers)

한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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지능로봇을 위한 행위기반의 하이브리드 제어구조에 관한 연구

A Study on Behavior-based Hybrid Control Architecture for Intelligent Robot

  • 김광일 (부산대 대학원 지능기계공학과) ;
  • 최경현 (제주대학교 기계에너지시스템공학부) ;
  • 이석희 (부산대학교 기계공학부)
  • 발행 : 2005.10.01
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초록

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

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참고문헌

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