《智能移动机器人》结课论文

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考试科目智能移动机器人

考试日期 2014年12月26日

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Control Architectures for Intelligent

Mobile Robots

Abstract. Control architecture is a very important concept for the design

of intelligent mobile robots. This article has a simple introduction about

the dominant control architectures, i.e. deliberative control architecture,

reactive control architecture hybrid deliberative/reactive control

architecture and behavior-based control architecture. Meanwhile,

introduce the subsumption control architecture which is similar to the

behavior-based control architecture, but very popular. In the time, the

article makes comparisons between them, and introduces their

advantages and disadvantages.

Keywords. Mobile robots, Robot control, Control architecture

1 Introduction

In the 21st century, it is expected that robots with different degrees of autonomy and mobility will play an increasingly important role in all aspects of human life. With the robotic technologies development of the robotics with the past few years, there are more and more inspiring and remarkable success stories for robotics. And mobile robots have been widely applied in many fields. Such as factory automation dangerous environment detection, office automation, hospital, entertainment, education, space exploration, farm automation, military and security system.

Furthermore, mobile robots pose a unique challenge to artificial intelligence researchers. Mobile robots need to be used to deal with key issues such as uncertainty, reliability, and real-time response.

For dealing with the challenge, control architecture for mobile robots becomes a growing interest and a popular subject. Robotic control architecture can be seen as a mixture of engineering and cognitive science and as such it presents unusual challenges to the programmer. Robotic control methodologies have tended to move from simplistic, predefined actuator actions based on specific input criteria to tight

feedback loops with input from the environment, giving more robust solutions. In these environments, where many such control loops are required, the opportunities for the application of parallel programming to create simple and robust solutions are numerous.

Even simple robots can have many different tasks to do simultaneously. For example, a robot might try to avoid bumping into walls whilst also trying to create the largest treacle pudding in the world. The latter task is the main purpose of the robot, but the first is important for the robot to meet its goal as designed and needs to be handled constantly alongside the robot’s main task.

So an excellent control architecture for mobile robots is a very important. The article has a simple introduction to the control architecture.

2 The control architecture for intelligent mobile robots

In the charter, we will have a quick look at some main control architectures which are deliberative control reactive control hybrid control and behavior-based control and introduce how they work. The Table 1 shows the difference between them.

Table 1: Difference between control architectures

2.1 The Deliberative Control Architecture

The deliberative control architecture, namely hierarchical control architecture, uses a centralized world model for verifying sensory information and generating