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A new conceptual approach to the design of hybrid control architecture for autonomous mobile robots

JOURNAL OF INTELLIGENT & robotic systems 2002年第1期34卷 1-26页

作者： Yavuz, H Bradshaw, A Mustafa Kemal Univ Muhendislik Mimarlik Fak Makina Muhendisligi TR-31200 Bolumu Iskenderun Turkey Univ Lancaster Dept Engn Lancaster LA1 4YR England

A detailed analysis and comparison of various control architectures is presented in order to meet the challenging design requirements targeted. All the present advanced control systems have certain advantages and disadvantages compared with each other. Due to the lack of an optimal control system with desired capabilities, such a control system has been the focus of recent robotics research programs. The new approach proposed in this paper is a hybrid control system that takes the advantages of various control structure types thereby integrating them in a way that results in an overall increase in synergy. The proposed control architecture presents a new approach to the design of supervisory control system that utilizes reactive, deliberative, distributed and centralised control approaches, and uses fuzzy logic as well as modular hierarchical structure. The architecture carries out supervision, modification and execution of commands generated by the centralised command arbitration module by conducting fuzzy logic integration of activated behaviours from distributed, independent asynchronous decision making processes that takes information from the user, sensory system and task description, thus providing goal-oriented, real-time responsive and tele-operable control system architecture. The resulting control system was experimented on and it was observed that not only was the response time sufficiently short, but also it exhibited robustness, flexibility, adaptability, portability and expandability.

关键词： mobile robot control architecture artificial intelligence sensor fusion fuzzy logic dead-reckoning conceptual design

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Supervised control of cooperative multi-agent robotic vehicles

Supervised control of cooperative multi-agent robotic vehicl...

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Southeastern Symposium on System Theory

作者： A. Shirkhodaie Department of Mechanical Engineering Intelligent Tactical Mobility Robotic Laboratory Tennessee State University Nashville TN USA

In this paper, we address some of technical challenges associated with supervised tactical mobility behaviors modeling and control of a group of cooperative multi-agent robotic vehicles. Cooperative task planning of robotic systems is a dynamic and complex problem and very challenging. The challenge comes from many avenues including task decomposition, assignment, resource allocation, and task execution and monitoring. Furthermore, the behavior-based control system requires a deliberative and reactive task planning capability for execution of cooperative tasks of mobile robots as well as adequate adaptability to learn new cooperative schemes to improve system performance in over-time. Another challenge of this problem is associated with sensory data gathering, distributed data processing, centralized/decentralized data fusion, and intelligent world perception modeling and comprehension of cooperative mobile robots. We propose a multilayered supervisory control architecture for coordinated task planning of a group of multi-agent robots. The supervisory controller allows control of robotic vehicles in either teleoperation, semi-autonomous, and/or autonomous modes.

关键词： Robot kinematics Mobile robots Robot sensing systems Robot control Vehicle dynamics Resource management Monitoring control systems System performance Data processing

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autonomous robot navigation based on fuzzy sensor fusion and reinforcement learning

Autonomous robot navigation based on fuzzy sensor fusion and...

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IEEE International Symposium on Intelligent control (ISIC)

作者： K.C. Tan K.K. Tan T.H. Lee S. Zhao Y.J. Chen Department of Electrical and Computer Engineering National University of Singapore Singapore

This paper presents the design and implementation of an autonomous robot navigation system for intelligent target collection in dynamic environments. A feature-based multi-stage fuzzy logic (MSFL) sensor fusion system is developed for target recognition, which is capable of mapping noisy sensor inputs into reliable decisions. The robot exploration and path planning are based on a grid map oriented reinforcement path learning system (GMRPL), which allows for long-term predictions and path adaptation via dynamic interactions with physical environments. In our implementation, the MSFL and GMRPL are integrated into a subsumption architecture for intelligent target-collecting applications. The subsumption architecture is a layered reactive agent structure that enables the robot to implement higher-layer functions including path learning and target recognition regardless of lower-layer functions such as obstacle detection and avoidance. Real-world application using a Khepera robot shows the robustness and flexibility of the developed system in dealing with robotic behavior such as target collecting in an ever-changing physical environment.

关键词： Robot sensing systems Navigation sensor fusion Learning Intelligent robots Intelligent sensors Target recognition Intelligent systems Fuzzy logic Working environment noise

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sensor fusion and decentralized control in robotic systems IV : 28-29 October, 2001, Newton, [Mas...

Sensor fusion and decentralized control in robotic systems I...

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2001年

作者： Gerard T. Mckee Paul S. Schenker chairs/editors sponsored ... by SPIE--the International Soci...

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A decentralized control algorithm for modular manipulators using coupled nonlinear dynamics

A decentralized control algorithm for modular manipulators u...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Kimura, S Commun Res Labs Koganei Tokyo 1848795 Japan

ISBN: (纸本)0819442992

A basic decentralized control algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.

关键词： modular manipulator space robot remote inspection hyper-redundant decentralized autonomous control nonlinear dynsmics coupled spring system

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Towards a perception and sensor fusion architecture for a robotic airship

Towards a perception and sensor fusion architecture for a ro...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Elfes, A Carvalho, JRH Bergerman, M Bueno, SS Res Inst Appl Knowledge Proc Ulm Germany

ISBN: (纸本)0819442992

robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. This paper discusses components of a perception architecture being developed for AURORA (autonomous Unmanned Remote Monitoring robotic Airship). The AURORA project focusses on the development of the technologies required for substantially autonomous unmanned aerial vehicles, and for robotic airships in particular. We describe our approach to spatial representation, which incorporates a Markov Random Field (MRF) model used for encoding spatial inferences obtained from sensor imagery. We present a dynamic approach to target recognition that uses a cycle of hypothesis formulation, experiment planning for hypothesis validation, experiment execution, and hypothesis evaluation to confirm or reject the classification of targets into object classes. We also discuss an approach to automatic hovering and landing using visual servoing techniques and interaction matrices, and present preliminary experimental results from our work.

关键词： UAV robotic airship perception architecture Markov random field active perception stochastic sensor models visual servoing

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Dynamic multi-sensor fusion for mobile robot navigation in an indoor environment

Dynamic multi-sensor fusion for mobile robot navigation in a...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Jin, TS Lee, JM Luk, BL Tso, SK Pusan Natl Univ Dept Elect Engn Pusan South Korea

ISBN: (纸本)0819442992

In this study, as the preliminary step for developing a multi-purpose autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera and IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

关键词： sensor fusion mobile robot motion planning mobile robot navigation map-building

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Collection of environmental data from an airship platform

Collection of environmental data from an airship platform

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Kantor, G Wettergreen, D Ostrowski, JP Singh, S Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)0819442992

We believe that solar powered, autonomous airships with the capability to embark on extended duration sampling missions will serve as valuable tools for environmental science. In this paper, we outline our vision for an autonomous airship and discuss some of the applications for which such a craft would be well suited. We also report on our efforts to date to realize this vision. Specifically, we discuss the use of solar energy as a renewable source of power for airships. We also describe the configuration of a nine meter airship that we will use as a testbed for environmental sampling and autonomy research. We conclude by outlining directions for future research.

关键词： sensors Solar energy Solar cells Environmental sensing Air contamination Carbon monoxide Global Positioning System Gyroscopes Navigation systems Skin

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Unmanned Airship development and Remote Sensing applications

Unmanned Airship development and Remote Sensing applications

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Boschma, JH BOSCH Aerosp Inc Brownsboro AL 35741 USA

ISBN: (纸本)0819442992

This paper discusses the development of unmanned airships for military use during the past decade, and the current status of the Small Airship Surveillance System, Low Intensity Target Exploitation (SASS LITE) platform. Topics covered will also include various missions planned and conducted, and technological advances expected to be implemented on unmanned airships in the near future.

关键词： unmanned robotic Airships blimps dirigibles remote sensing

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Performance of a distributed robotic system using shared communications channels

Performance of a distributed robotic system using shared com...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Rybski, P Stoeter, S Gini, M Hougen, D Papanikolopoulos, N Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA

ISBN: (纸本)0819442992

We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communication bandwidth affects robot performance in accomplishing the task and analyze how performance depends on the number of robots that share the bandwidth.

关键词： Robots Video Motion detection Telecommunications Video surveillance Cameras robotic systems Video processing Surveillance sensors

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