自主移动机器人运动控制模块

1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467) Pub Date : 1999-10-18 DOI:10.1109/ETFA.1999.815397

C. Tarín, H. Brugger, B. Tibken, E. Hofer

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引用次数: 0

摘要

我们分析了在自主移动机器人B21上实现的运动控制模块，作为为SFB 527开发的特定软件架构的一部分，称为自适应感觉运动系统中符号和亚符号信息处理的集成。运动控制模块首先位于架构的最低层。它的功能包括路径控制技能、位置控制技能、过点导航技能和穿越技能。定义了与其他模块的接口和配置状态。通信任务在使用SMART/sup /软件框架的单独线程中独立于功能实现。

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Motion control module for an autonomous mobile robot

We analyse the motion control module implemented on the autonomous mobile robot B21 as part of the specific software architecture developed for the SFB 527, called integration of symbolic and subsymbolic information processing in adaptive sensory-motor systems. The motion control module is first located the lowest layer of the architecture. Its functionalities are path control skill, position control skill, via-point navigation skill, and put-through skill. The interfaces to other modules and the configuration states are defined. The communication tasks are implemented independently of the functionalities in separate threads using the SMART/sup Ulm/ software frame.

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1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)

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