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Proceedings Paper

Intelligent robot control using an adaptive critic with a task control center and dynamic database
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Paper Abstract

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

Paper Details

Date Published: 2 October 2006
PDF: 13 pages
Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 63840J (2 October 2006); doi: 10.1117/12.685367
Show Author Affiliations
E. L. Hall, Univ. of Cincinnati (United States)
M. Ghaffari, Univ. of Cincinnati (United States)
X. Liao, Univ. of Cincinnati (United States)
S. M. Alhaj Ali, The Hashemite Univ. (Jordan)

Published in SPIE Proceedings Vol. 6384:
Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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