Publication detail
Extended Architecture for Autonomous Robots
BŘEZINA, T. EHRENBERGER, Z. HOUŠKA, P. SINGULE, V.
Czech title
Rozšířená architektura autonomních robotů
English title
Extended Architecture for Autonomous Robots
Type
conference paper
Language
en
Original abstract
Many intelligent architectures are studied and designed for autonomous robots control. This contribution proposes one of such architectures. Its aim is to create autonomous activities with possible choice of teleoperator or unsupervised mode of control of robot behaviour in real time and dynamic environment. Conventional three-leveled architecture of autonomous robots is modified by introducing the highest level for mission control, which is in interaction with all lower layers of robot control system. This highest level makes decisions of control type (teleoperator, supervised or autonomous), robot mobility type (HW modularity, serial, parallel or hybrid mechanics) in the environment and of fulfillment of goal tasks with respect to the fact if the robot works by himself or in the group of robots. The aim of authors leads to the implementation of the first version of autonomous architecture on developed omnidirectional and designed walking robot.
Czech abstract
Pro řízení autonomních robotů je studováno i navrženo mnoho inteligentních architektur. Tento příspěvek navrhuje jednu takovou architekturu. Jejím cílem je umožnit autonomní aktivity v reálném čase a dynamickém prostředí s možným výběrem teleoperátorového režimu nebo režimu bez dohledu. Konvenční třívrstvá architektura autonomních robotů je modifikována zavedením nejvyšší vrstvy řízení úkolu, která je ve spojení s nižšími vrstvami systému řízení robotu. Tato nejvyšší vrstva rozhoduje o způsobu řízení (teleoperátor, dohled, autonomní), typu mobility robotu (HW modularita, sériová, paralelní nebo hybridní mechanika) v prostředí a o splnění cílových úkolů s ohledem na to, zda robot pracuje samostatně nebo ve skupině robotů. Záměr autorů vede na implementaci první verze autonomní architektury na vyvinutém všesměrovém a navrženém kráčejícím robotu.
English abstract
Many intelligent architectures are studied and designed for autonomous robots control. This contribution proposes one of such architectures. Its aim is to create autonomous activities with possible choice of teleoperator or unsupervised mode of control of robot behaviour in real time and dynamic environment. Conventional three-leveled architecture of autonomous robots is modified by introducing the highest level for mission control, which is in interaction with all lower layers of robot control system. This highest level makes decisions of control type (teleoperator, supervised or autonomous), robot mobility type (HW modularity, serial, parallel or hybrid mechanics) in the environment and of fulfillment of goal tasks with respect to the fact if the robot works by himself or in the group of robots. The aim of authors leads to the implementation of the first version of autonomous architecture on developed omnidirectional and designed walking robot.
Keywords in English
mobile robot, autonomous operation, deliberative and reactive control
RIV year
2003
Released
24.03.2003
Publisher
Institute of Mechanics of Solids Faculty of Mechanical Engineering Brno University of Technologi
Location
Brno
ISBN
80-214-2312-9
Book
Mechtronics, Robotics and Biomechanics 2003
Edition number
1
Pages count
2
BIBTEX
@inproceedings{BUT9739,
author="Tomáš {Březina} and Zdeněk {Ehrenberger} and Pavel {Houška} and Vladislav {Singule},
title="Extended Architecture for Autonomous Robots",
booktitle="Mechtronics, Robotics and Biomechanics 2003",
year="2003",
month="March",
publisher="Institute of Mechanics of Solids
Faculty of Mechanical Engineering
Brno University of Technologi",
address="Brno",
isbn="80-214-2312-9"
}