Mobile Robot Control Architecture for Reflexive Avoidance of Moving Obstacles
- Authors
- Hong, Keum-Shik; Tamba, Tua Agustinus; Song, Jae-Bok
- Issue Date
- 2008
- Publisher
- TAYLOR & FRANCIS LTD
- Keywords
- Behavior based; control architecture; mobile robot; obstacle avoidance; real time control
- Citation
- ADVANCED ROBOTICS, v.22, no.13-14, pp.1397 - 1420
- Indexed
- SCIE
SCOPUS
- Journal Title
- ADVANCED ROBOTICS
- Volume
- 22
- Number
- 13-14
- Start Page
- 1397
- End Page
- 1420
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/125542
- DOI
- 10.1163/156855308X360488
- ISSN
- 0169-1864
- Abstract
- In this paper, a three-layer (deliberative, sequencing, reflexive) architecture is adopted and the structure of the reflexive layer is discussed, The objective of this architecture is to extract the basic actions that require hard-real-time execution from non-real-time-allowed behaviors by separating them into the reflexive and sequencing layers, respectively. The reflexive layer consists of resources, actions, an action coordinator and a motion controller. To guarantee the hard-real-time execution, a set of simple actions and all action coordinator are designed using the functions provided in the RTAI (Real-Time Application Interface for Linux) environment. Also, all obstacle avoidance algorithm based upon data from a laser range scanner is developed. For the purpose of avoiding a moving obstacle, which is treated as a moving circle through segmentation and circularization processes, a Kalman filter is developed to estimate the distance and the heading of the center of the moving circle. The effectiveness and real-time characteristics of the proposed reflexive layer and the developed algorithms are examined through experiments using scattered stand-still obstacle, as well as a moving human. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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