Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Navigation Control Architecture of the Reactive Layer for Autonomous Mobile Robots

자율이동로봇을 위한 반사층의 실시간 주행제어구조

  • 김형진 (부산대학교 지능기계공학과) ;
  • 전성용 (부산대학교 지능기계공학과) ;
  • 손원종 (부산대학교 지능기계공학과) ;
  • 홍금식 (부산대학교 기계공학부)
  • Published : 2006.11.01
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Abstract

In a hybrid three-layer control architecture(deliberative, sequencing, and reflexive), the lowest reflexive layer consists of resources, actions, an action coordinator, and motion controllers. Because the execution of individual components in the reflexive layer should be done in real-time, each component has to be simple and, due to this reason, the Linux-RTAI(Real-Time Application Interface for Linux) has been used as an operating system. In this paper, a navigation control architecture, which combines the components in the reflexive layer and the navigation-related modules in the sequencing layer, is proposed. And then, as basic components, four actions(Goto, Avoid, Move, and EmergencyStop) are designed. Experimental results confirm the effectiveness of the proposed architecture and the performance of individual associated actions.

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References

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