The integration of dissimilar control architectures for mobile robot applications

摘要

This article discusses a dual architecture for autonomous mobile robots. The implementation application is an autonomous visual inspection system for waste stored in drums. We discuss the three main architectures commonly implemented on mobile robots. The various modules needed for the successful operation of a mobile robot are analyzed, and software and hardware requirements for each modules are noted. We make arguments as to which architecture is best suited for each component. From the results of this analysis, we propose a new dual architecture for autonomous mobile robots. Rather than developing a single hybrid architecture that has qualities of both behavioral and functional architectures, we have taken an approach that involves the integration of two distinct architectures. Next, we detail the implementation of the architecture of the robot, and the advantages of our architecture as it pertains to the integration of system components. System performance in the testing environment is discussed. © 1997 John Wiley & Sons, Inc.