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An event-based robot control architecture Yu, Jie
Abstract
The robot control system is a subsystem of a robot designed to regulate its behaviours to meet certain requirements. For a mobile robot performing in a real-world environment, its control system must have the capability to be both deliberative and reactive. In addition to this fundamental requirement, robustness, timely response and: coordination among multiple goals are also desirable for a mobile robot control system. This thesis addresses these requirements in building a mobile robot control system and proposes an Event-based Robot Control Architecture (ERA). . .v The unpredictable nature of the real-world environment leads to the development of our Event-based Robot Control Architecture. All communications inside the control: architecture are done in the form of events. Our focus for the mobile robot control architecture is on using an exception mechanism for error recovery. Exceptions are one kind of events. We present a general design and a system prototype for an Event-based Robot Control Architecture. The implementation was used to conduct experiments ,and identify the benefits and limitations of the proposed paradigm. It was found that a mobile robot using this Event-based Robot Control Architecture meets the previously established requirements.
Item Metadata
Title |
An event-based robot control architecture
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1999
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Description |
The robot control system is a subsystem of a robot designed to regulate its
behaviours to meet certain requirements. For a mobile robot performing in a real-world
environment, its control system must have the capability to be both deliberative and
reactive. In addition to this fundamental requirement, robustness, timely response and:
coordination among multiple goals are also desirable for a mobile robot control system.
This thesis addresses these requirements in building a mobile robot control system and
proposes an Event-based Robot Control Architecture (ERA). . .v
The unpredictable nature of the real-world environment leads to the development
of our Event-based Robot Control Architecture. All communications inside the control:
architecture are done in the form of events. Our focus for the mobile robot control
architecture is on using an exception mechanism for error recovery. Exceptions are one
kind of events. We present a general design and a system prototype for an Event-based
Robot Control Architecture. The implementation was used to conduct experiments ,and
identify the benefits and limitations of the proposed paradigm. It was found that a mobile
robot using this Event-based Robot Control Architecture meets the previously
established requirements.
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Extent |
5442245 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-06-16
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0051641
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1999-11
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.