A general hardware and software architecture concept for the execution control of autonomous mobile robots is presented. The concepts are applied in building HILARE 2, a new experimental mobile robot. The control structure of a complex robotic system is viewed as being made up of successive software layers, built on top of the physical robot. The virtual robot layer implements access to the physical robot by higher level software layers. The next layer, called the module substratum, consists of a group of functional modules which cooperate to accomplish the tasks required by a central controller which verifies the state of the robot and the environment, ensures planned actions applicability, and starts the execution of these actions to detect or recover from possible failures.


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    Title :

    Hardware and Software Architecture for Execution Control of an Autonomous Mobile Robot


    Contributors:

    Publication date :

    1991


    Size :

    199 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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