A modular computing architecture for autonomous robots

被引：8

作者：

Hu, HS ^{[1
]}

Gu, DB

Brady, M

机构：

[1] Univ Reading, Dept Cybernet, Reading RG6 6AY, Berks, England

[2] Changchun Inst Opt & Fine Mech, Dept Elect Engn, Changchun 130022, Peoples R China

[3] Univ Oxford, Dept Engn Sci, Oxford OX1 3PJ, England

来源：

MICROPROCESSORS AND MICROSYSTEMS | 1998年 / 21卷 / 06期

基金：

英国工程与自然科学研究理事会;

关键词：

modular architecture; autonomous robots; sensor integration;

D O I：

10.1016/S0141-9331(98)00050-7

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a modular computing architecture used for intelligent control of autonomous robots. The architecture takes the form of multiple sensing and control layers, based on Locally Intelligent Control Agents (LICAs) in which IBM PowerPC, SIEMENS 80C166, and INMOS Transputers are adopted. The control tasks are distributed among a set of the LICA-based behaviour experts that tightly couple sensing and action, but which are also loosely coupled to each other. It provides a high bandwidth computing platform for real-time navigation and control tasks embedded in real-world applications. Based on this modular design, autonomous mobile robots have been built successfully to implement both indoor and outdoor navigation. (C) 1998 Elsevier Science B.V.

引用

页码：349 / 361

页数：13

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