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http://dx.doi.org/10.5302/J.ICROS.2006.12.2.154

Implementation of Hybrid Deliberative/Reactive Control Architecture for Autonomous Navigation of a Mobile Robot in Dynamic Environments  

Nam Hwa-Sung (고려대학교 기계공학과)
Song Jae-Bok (고려대학교 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.2, 2006 , pp. 154-160 More about this Journal
Abstract
Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.
Keywords
mobile robot; control architecture; hybrid control;
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