贝拉:服务机器人的研究架构

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.845168

M. Lindström, Anders Orebäck, H. Christensen

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引用次数: 103

摘要

讨论了移动服务机器人的体系结构。本文涵盖了总体设计和实现的相关方面。机器人结构是一种混合的审慎/反应行为类型。策略是选择，规划被视为配置。该体系结构可以分为三层，一层用于审议，一层用于任务执行，还有一个响应层。可伸缩性和高度的灵活性是主要的设计目标，这使得重新配置系统变得容易。该系统是以面向对象的方式构建的。该架构的应用已经在我们实验室的大量任务中进行了测试，其中一个房间被设置为普通的客厅。

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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BERRA: a research architecture for service robots

The architecture for a mobile service robot is discussed. The paper covers aspects related to overall design and implementation. The robot architecture is of the hybrid deliberative/reactive behavioral type. The strategy is selection where planning is viewed as configuration. The architecture can be divided into three layers, one for deliberation, one for task execution, and one reactive layer. Scalability and a high degree of flexibility have been primary design goals, making it easy to reconfigure the system. The system has been built in an object oriented fashion. An application of the architecture has been tested in a significant number of missions in our lab, where one room has been setup as an ordinary living room.

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来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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