Reactive Processes for Mobile Robot Control

  • F. Noreils
  • A. Khoumsi
  • G. Bauzil
  • R. Chatila

Abstract

An approach for the design of a mobile robot control structure based on the notion of process establishing a dynamic link between perception and action is presented. Sensor (resp. effector) modules in charge of executing basic computations on data from sensors (reap. commands to effectors) are defined. We want the robot to perform various tasks in different conditions: according to the situation, it will use its processes to achieve different closed-loop behaviors. The control system manages the processes with the help of surveillance monitors so as to guarantee consistent behavior of the robot, while ensuring reactivity. Examples are given to illustrate this approach. The use of processes highlights a part of the architecture we have developed on our mobile robot HILARE.

Keywords

Dinates Sonar Controle Hongo 

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Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • F. Noreils
    • 1
  • A. Khoumsi
    • 1
  • G. Bauzil
    • 1
  • R. Chatila
    • 1
  1. 1.LAAS-CNRSToulouse-cedexFrance

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