A parallel processing architecture for sensor-based control of intelligent mobile robots |
| |
Authors: | Huosheng Hu Michael Brady |
| |
Affiliation: | Department of Engineering Science, University of Oxford, 19 Parks Rd, Oxford, OX1 3PJ, UK |
| |
Abstract: | Parallel processing plays an important role in sensor-based control of intelligent mobile robots. This paper describes the design and implementation of a parallel processing architecture used for real-time, sensor-based control of mobile robots. This architecture takes the form of a network of sensing and control nodes, based on a novel module that we call Locally Intelligent Control Agent (LICA). It is a hybrid control architecture containing low-level feedback control loops and high-level decision making components. All the sensing, planning, and control tasks for intelligent control of a mobile robot are distributed across such a network, and operate in parallel. It has been used successfully in many experiments to perform planning and navigation tasks in real-time. Such a generic architecture can be readily applied to many diverse applications. |
| |
Keywords: | Mobile robots Parallel processing Intelligent control Architecture Communication |
本文献已被 ScienceDirect 等数据库收录! |
|