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On the Design of a Control Architecture for an Autonomous Mobile Robot

  • E. Pereira da Silva
  • F. Lobo Pereira
  • J. Borges Sousa
Chapter
Part of the International Series on Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 18)

Abstract

In this chapter we present a model of a hierarchic control architecture for Autonomous Mobile Robots (AMR) as well as its use in the design of an autonomous wheeled mobile platform for transportation in an industrial environment. This model results from successive incremental refinements consolidated over the years with the experience accumulated in a number of R&D projects (e.g., [1], [2]) with special emphasis for the NATO funded PO-Robot project [3].

Keywords

Mobile Robot Intelligent Machine Control Architecture Functional Layer Autonomous Mobile Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer Science+Business Media Dordrecht 1999

Authors and Affiliations

  • E. Pereira da Silva
    • 1
  • F. Lobo Pereira
    • 2
    • 3
  • J. Borges Sousa
    • 2
    • 3
  1. 1.Instituto Superior de Engenharia do Porto and Instituto de Sistemas e Robótica-PortoPortoPortugal
  2. 2.Faculdade de Engenharia da Universidade do PortoPorto CodexPortugal
  3. 3.Instituto de Sistemas e Robótica-PortoPorto CodexPortugal

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