<title>Monitoring system with logical reasoning for mobile robot guidance</title>

摘要

In this paper we propose a monitoring system for the observation and navigation of mobile vehicles in factory environments. After a short overview about the complete flexible transport system, the monitoring system, consisting of a global sensor system with an integrated logical reasoning control module, is described in more detail. The aim of the global monitoring is the seamless observation of the complete factory environment to detect all dynamic changes. This global concept offers many advantages: the on-carrier sensors can be kept simple and cheap, driving paths can be early modified by the navigators and the actual detected carrier positions can be used for control purposes. The proposed system has a multi layer architecture consisting of the sensor layer, the low-level and high-level control layer. The sensor layer is responsible for the acquisition of environment data and low-level data analysis. The task of the low-level control layer is the improvement of the analysis data, using as much as possible a priori information. The high-level control layer executes the coordination of different observation tasks, using control rules which are activated by the results of the low-level control layer.