Theoretical methods for planning and control in mobile robotics

H. Christensen, P. Pirjanian
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引用次数: 13

Abstract

Through adaptation of theoretical techniques from control theory and computer science it becomes possible to provide well posed expert systems for the control of mobile robots. In contrast to other expert systems for mobile robotics the adapted framework enables structured design and verification of implemented systems. This in turn results in a modular system, and a system with a predictable performance. The authors describe how a behaviour based system can be controlled by a rule based expert system, where the interaction between behaviours is described in terms of a process algebra, where different processes are modelled as discrete event systems, and compositions are controlled by a supervisory control-structure. To verify the described framework experimental results obtained with a prototype system are also outlined.
移动机器人规划与控制的理论方法
通过对控制理论和计算机科学的理论技术的适应,可以为移动机器人的控制提供良好的专家系统。与移动机器人的其他专家系统相比,适应的框架使实现系统的结构化设计和验证成为可能。这反过来又产生了一个模块化系统,以及一个具有可预测性能的系统。作者描述了基于行为的系统如何由基于规则的专家系统控制,其中行为之间的交互用过程代数来描述,其中不同的过程被建模为离散事件系统,并且组合由监督控制结构控制。为了验证所描述的框架,还概述了用原型系统获得的实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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