Supervision and control of the AMR intervention robot

摘要

The Eureka project AMR (advanced mobile robots) aims at prototyping two intervention robots, for public safety application in hostile environments. One of them is devoted to outdoor operations, while the second one is for indoor interventions. Providing the robot with the on-board capabilities to achieve an autonomous behavior is a major issue of the project. These capabilities include autonomous task management, environment modeling, motion planning, auto-localization, and obstacle avoidance. Two main operating modes are foreseen: a teleoperated mode, and an autonomous mode. Transforming the goals into simpler tasks, choosing the most adequate way to perform the tasks, controlling their execution and handling external events and internal failures, is under the responsibility of the robot's supervision unit, described. After introducing the general architecture of the unit, the task execution and the architectural impacts on the design of the robot's sub-systems are considered.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>