Robust Intelligent Control of Mobile Robots

Robust Intelligent Control of Mobile Robots

Gordon Fraser (Graz University of Technology, Austria), Gerald Steinbauer (Graz University of Technology, Austria), Jörg Weber (Graz University of Technology, Austria) and Franz Wotawa (Graz University of Technology, Austria)
Copyright: © 2009 |Pages: 21
DOI: 10.4018/978-1-60566-054-7.ch052
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Abstract

An appropriate control architecture is a crucial premise for successfully achieving truly autonomous mobile robots. The architecture should allow for a robust control of the robot in complex tasks, while it should be flexible in order to operate in different environments pursuing different tasks. This chapter presents a control framework that is able to control an autonomous robot in complex realworld tasks. The key features of the framework are a hybrid control paradigm that incorporates reactive, planning and reasoning capabilities, a flexible software architecture that enables easy adaptation to new tasks and a robust task execution that makes reaction to unforeseen changes in the task and environment possible. Finally, the framework allows for detection of internal failures in the robot and includes self-healing properties. The framework was successfully deployed in the domain of robotic soccer and service robots. The chapter presents the requirements for such a framework, how the framework tackles the problems arising from the application domains, and results obtained during the deployment of the framework.

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