Authors: Hong, Keum-Shik¹; Tamba, Tua Agustinus²; Song, Jae-Bok³

Source: Advanced Robotics, Volume 22, Numbers 13-14, 2008 , pp. 1397-1420(24)

Publisher: VSP, an imprint of Brill

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 an action coordinator are designed using the functions provided in the RTAI (Real-Time Application Interface for Linux) environment. Also, an 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 obstacles as well as a moving human.

Keywords: BEHAVIOR BASED; CONTROL ARCHITECTURE; MOBILE ROBOT; OBSTACLE AVOIDANCE; REAL TIME CONTROL

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855308X360488

Affiliations: 1: School of Mechanical Engineering, Pusan National University; 30 Jangjeon-dong, Gumjeong-gu, Busan 609-735, South Korea;, Email: kshong@pusan.ac.kr 2: School of Mechanical Engineering, Pusan National University; 30 Jangjeon-dong, Gumjeong-gu, Busan 609-735, South Korea 3: Department of Mechanical Engineering, Korea University, Anam-dong, Seongbuk-gu, Seoul 136-713, South Korea

Publication date: 2008-09-01

Related content

• In this: publication
• By this: publisher
• In this Subject: Engineering/Technology ,  Physics (General)
• By this author: Hong, Keum-Shik ;  Tamba, Tua Agustinus ;  Song, Jae-Bok

Website © Publishing Technology. Article copyright remains with the publisher, society or author(s) as specified within the article.

• Terms and conditions
• Privacy policy
• Information for advertisers