Control Architecture Model in Mobile Robots for the Development of Navigation Routes in Structured Environments

Control Architecture Model in Mobile Robots for the Development of Navigation Routes in Structured Environments

Alejandro Hossian (Universidad Tecnológica Nacional, Argentina), Gustavo Monte (Universidad Tecnológica Nacional, Argentina) and Verónica Olivera (Universidad Tecnológica Nacional, Argentina)
DOI: 10.4018/978-1-4666-2658-4.ch005
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Abstract

Robotic navigation applies to multiple disciplines and industrial environments. Coupled with the application of Artificial Intelligence (AI) with intelligent technologies, it has become significant in the field of cognitive robotics. The capacity of reaction of a robot in unexpected situations is one of the main qualities needed to function effectively in the environment where it should operate, indicating its degree of autonomy. This leads to improved performance in structured environments with obstacles identified by evaluating the performance of the reactive paradigm under the application of the technology of neural networks with supervised learning. The methodology implemented a simulation environment to train different robot trajectories and analyze its behavior in navigation and performance in the operation phase, highlighting the characteristics of the trajectories of training used and its operating environment, the scope and limitations of paradigm applied, and future research.
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Control Architecture

In the context of the design of robot systems, a control architecture is some description of a system established on the basis of components of a structural nature and how it is assembled together to be able to shape a coherent and consistent set with respect to its “structure and function.” In the context of mobile robotics, which is the branch of Robotics that concerns us in the present work, include the following sentence belonging to Javier De Lope Asiaín (De Lope, 2001):

Mobile robot control architecture is a software system that provides the actions or movements that should make the robot from the acquisition and processing of sensory information and of the objective or objectives that have been identified.

Given this reasoning, in which case it is intended to design and build a mobile robot, one of the key issues to solve this problem must be related the following to obtain a satisfactory design:

  • Appropriate sensors to perceive the robot system operating environment.

  • Engines, to facilitate the mobility of the robot to act on its environment.

  • CPU (Central Processing Unit) to exercise control over this mechanism of relationship between sensors and motors.

  • Command of tasks. The commands are ordered tasks the robot can complete.

The schematic shown in Figure 1 expresses the idea of integrating the four elements mentioned above to find a mechanism by which the robot can use environment information obtained from its sensory system, transforming it into actions and movements in this environment, according to the tasks and objectives to be achieved by the robot.

Figure 1.

It illustrates an integrated outline of the aforementioned elements

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