On the design and implementation of a control architecture for a mobile robotic system
1996
In this article, we describe the analysis, design and implementation of a control architecture for a mobile platform to autonomously carry out transportation, surveillance and inspection tasks in semi-structured industrial environments. Based on a hierarchical structure composed by the organization, coordination and functional levels organized linguistically and structured according to the principle of increasing precision with decreasing intelligence, this control architecture permits the real-time parallel execution of tasks.
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