Methodology and computing model for a reactive mobile robot controller

Abstract

Several different conceptual approaches for mobile robot control architectures are described along with a set of necessary control requirements for such systems. From these required characteristics, the authors propose a system architecture for control of a mobile robot based on the notion of "activities" that are supervised by a blackboard system. A methodology to describe this blackboard is then proposed to allow a formal design approach of the mobile robot high-level reasoning.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>