A system aimed at controlling the actions of mobile robots in an indoor environment is presented. The main issue addressed is reactive planning: the system enables such robots to perform nonelementary tasks in an environment that unpredictably demands to adapt the robots' actions. A control system dealing with this problem was implemented in the context of a representative motion task. A demonstration was carried out on one GOFER robot to test how effectively and reliably the system could achieve this task. The control system is composed of a planning module, written in the Action Network formalism, that governs various behaviors implemented with artificial potential fields or other specific control strategies. Both the system implemented and the demonstration are detailed.<>


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experiments in reactive planning and control with mobile robots


    Beteiligte:
    Maigret, P. (Autor:in)


    Erscheinungsdatum :

    01.01.1991


    Format / Umfang :

    522852 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Reactive Planning and Control with Mobile Robots

    Maigret, P. | British Library Online Contents | 1992


    Reactive Planning for Mobile Robots Using Numeric Potential Fields

    Zelinsky, A. / Yuta, S. | British Library Conference Proceedings | 1993


    PLANNING IN MOBILE ROBOTS

    HAWASLY MAJD / EIRAS FRANCISCO / RAMAMOORTHY SUBRAMANIAN | Europäisches Patentamt | 2023

    Freier Zugriff

    PLANNING IN MOBILE ROBOTS

    PULVER HENRY / HAWASLY MAJD / RAMAMOORTHY SUBRAMANIAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    PLANNING IN MOBILE ROBOTS

    HAWASLY MAJD / EIRAS FRANCISCO / RAMAMOORTHY SUBRAMANIAN | Europäisches Patentamt | 2021

    Freier Zugriff