2008 | OriginalPaper | Buchkapitel
A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots
verfasst von : Gerhard Gubisch, Gerald Steinbauer, Martin Weiglhofer, Franz Wotawa
Erschienen in: New Frontiers in Applied Artificial Intelligence
Verlag: Springer Berlin Heidelberg
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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.