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Proceedings Paper

Reactive layer control architecture for autonomous mobile robots
Author(s): Sung-Yong Jeon; Hyung-Jin Kim; Keum-Shik Hong; Byung-Kook Kim
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Paper Abstract

In this paper, a real-time reactive mechanism in the hybrid deliberate/reactive control architecture was proposed. The real-time reactive layer consists of resources, behaviors, an action coordinator, and a controller. Each resource offers an independent sensor information. To improve real-time characteristics, individual behaviors and the action coordinator were designed to fulfill the realtimeness in executing each component in RTAI (Real-Time Application Interface for Linux). The effectiveness and the real-time characteristics of the proposed reactive mechanism were verified by computer simulations of preplanned scenarios.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423T (2 May 2006); doi: 10.1117/12.664778
Show Author Affiliations
Sung-Yong Jeon, Pusan National Univ. (South Korea)
Hyung-Jin Kim, Pusan National Univ. (South Korea)
Keum-Shik Hong, Pusan National Univ. (South Korea)
Byung-Kook Kim, Korea Advanced Institute of Science and Technology (South Korea)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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