The Planetary Rover project is developing the Ambler, a novel legged robot, and an autonomous software system for walking the Ambler over rough terrain. As part of the project, we have developed a system that integrates perception, planning, and real-time control to navigate a single leg of the robot through complex obstacle courses. The system is integrated using the Task Control Architecture (TCA), a general-purpose set of utilities for building and controlling distributed mobile robot systems. The walking system, as originally implemented, utilized a sequential sense-plan-act control cycle. This report describes efforts to improve the performance of the system by concurrently planning and executing steps. Concurrency was achieved by modifying the existing sequential system to utilize TCA features such as resource management, monitors, temporal constraints, and hierarchical task trees. Performance was increased in excess of 30 percent with only a relatively modest effort to convert and test the system. The results lend support to the utility of using TCA to develop complex mobile robot systems. (author)


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Concurrent Planning and Execution for a Walking Robot


    Beteiligte:
    R. Simmons (Autor:in)

    Erscheinungsdatum :

    1990


    Format / Umfang :

    19 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





    Walking robot, method for controlling walking robot, and walking robot system

    MA MIAOWU | Europäisches Patentamt | 2023

    Freier Zugriff

    Trajectory Planning for Multi-arm Space Walking Robot

    Chu, Xiaoyu / Zhang, Jingrui / Hu, Quan et al. | AIAA | 2015


    WALKING ROBOT

    PEWKLIANG SUPPACHAI / MANOONPONG PORAMATE / CHUTHONG THIRAWAT et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Walking Robot

    HAFENRICHTER JOSEPH LAWRENCE / GEORGESON GARY ERNEST | Europäisches Patentamt | 2017

    Freier Zugriff