Abstract
One of the elementary tasks of an autonomous mobile robot is the execution of different behavior patterns in order to fulfill a given task. The complexity of this problem is especially high if the robot operates in a dynamic, unpredictable environment and requires the parallel control of multiple actuators. In this paper we present a novel architecture for robust and fast mobile robot control. The architecture is based on Teleo-Reactive Programs. We discuss the benefits and drawbacks of such programs, extend the basic definition for the parallel control of multiple actuators, and propose a new language and a compiler for extended Teleo-Reactive Programs. These tools simplify the creation of new behavior patterns and increase the runtime performance. Finally, we discuss implementation issues of the architecture when applying it to RoboCup Middle-Size soccer robots.
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Gubisch, G., Steinbauer, G., Weiglhofer, M., Wotawa, F. (2008). A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots. In: Nguyen, N.T., Borzemski, L., Grzech, A., Ali, M. (eds) New Frontiers in Applied Artificial Intelligence. IEA/AIE 2008. Lecture Notes in Computer Science(), vol 5027. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69052-8_57
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DOI: https://doi.org/10.1007/978-3-540-69052-8_57
Publisher Name: Springer, Berlin, Heidelberg
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