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How does "Modular hierarchical architecture concept" help us to enhance robot's function?

Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.

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Bibliographic Details
Main Authors: Mohsen, Taheri, S.H. Mohades, Kasaei, S.M. Mohades, Kasaei
Other Authors: M.Taheri@khuisf.ac.ir
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis 2009
Subjects:
Autonomous robot
Behavior decisions
Ccooperative multi-robot systems
Image processing
Mobile robot
Omnidirectional system
Robotics
Robots > Design and construction
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7324
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spelling my.unimap-73242010-01-15T07:58:39Z How does "Modular hierarchical architecture concept" help us to enhance robot's function? Mohsen, Taheri S.H. Mohades, Kasaei S.M. Mohades, Kasaei M.Taheri@khuisf.ac.ir Autonomous robot Behavior decisions Ccooperative multi-robot systems Image processing Mobile robot Omnidirectional system Robotics Robots -- Design and construction Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. As the study of autonomous mobile robots grows in popularity in recent years, the demand for designing simple, suitable, and reliable robot has also increased. However, a survey through literature reveals little about the software design process or unified methodology to actually design proper mobile robots. The software is developed in two main parts, one is the server application which consists Network, World Modeling, Global AI, Condition Monitoring and the second is a player application which consists Image processing, Network, local AI, Trajectory Planning and a MIMO Motion Controller. This paper proposes formalism for the description and automated implementation of the functional modules of an autonomous mobile robot in the framework of multi-layered control architectures. The formalization of the description of a module, including its behavior and its interfaces with other modules makes the implementation easier by providing higher level tools and automatic consistence checking tools in the module compiler. The software architecture allows high level communication between modules on different abstraction levels of the control architecture within one robot system as well as communication between different and heterogeneous robots and computers using wireless network. Very different behavior control paradigms may be realized on the basis of the developed architecture. Our experience of developing control architectures for autonomous mobile robots has led us to more modular systems than existing ones. In the architecture, perceiving processes are separated from the robot's behavior hierarchy. Behaviors can be executed in parallel, and there is a behavior selector in every layer to cope with conflictions among behaviors. Our architecture preserves and extends the key properties of behavior-based systems. 2009-11-18T02:43:51Z 2009-11-18T02:43:51Z 2009-10-11 Working Paper p.3B1 1 - 3B1 4 http://hdl.handle.net/123456789/7324 en Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009) Universiti Malaysia Perlis
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Autonomous robot
Behavior decisions
Ccooperative multi-robot systems
Image processing
Mobile robot
Omnidirectional system
Robotics
Robots -- Design and construction
spellingShingle Autonomous robot
Behavior decisions
Ccooperative multi-robot systems
Image processing
Mobile robot
Omnidirectional system
Robotics
Robots -- Design and construction
Mohsen, Taheri
S.H. Mohades, Kasaei
S.M. Mohades, Kasaei
How does "Modular hierarchical architecture concept" help us to enhance robot's function?
description Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
author2 M.Taheri@khuisf.ac.ir
author_facet M.Taheri@khuisf.ac.ir
Mohsen, Taheri
S.H. Mohades, Kasaei
S.M. Mohades, Kasaei
format Working Paper
author Mohsen, Taheri
S.H. Mohades, Kasaei
S.M. Mohades, Kasaei
author_sort Mohsen, Taheri
title How does "Modular hierarchical architecture concept" help us to enhance robot's function?
title_short How does "Modular hierarchical architecture concept" help us to enhance robot's function?
title_full How does "Modular hierarchical architecture concept" help us to enhance robot's function?
title_fullStr How does "Modular hierarchical architecture concept" help us to enhance robot's function?
title_full_unstemmed How does "Modular hierarchical architecture concept" help us to enhance robot's function?
title_sort how does "modular hierarchical architecture concept" help us to enhance robot's function?
publisher Universiti Malaysia Perlis
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7324
_version_ 1643788777729032192
score 13.214268

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