Several activities need to be controlled and coordinate during mission. An execution model is thus a formal framework allowing for a consistent description of the correct timing of any kind of behavior the system has to perform successfully conclude a mission. However as the domain is uncertain, the result of any action can be unexpected, and the resources and time needed can not be rigidly scheduled. It is necessary to account for flexible behavior which means managing dynamic change of time and resource allocation.
A model based executive control system integrates and supervises both the robot modules activities and the operator interventions. The main robot and operator processes such as laser scanning, mapping, navigation etc, are represented explicitly by a declarative temporal context following this approach. A reactive planner can monitor the system status and generate the control on the fly performing continuously sense-plan-act cycles. Each cycle the reactive planner is to generate the robot activities managing failures. The short range planning activity can balance reactivity and goal oriented behavior: short term goals and internal/external events can be combined while the reactive planner tries to solve conflicts.
The physical layer is composed of all the robot devices, e.g. sonar’s, motors, and payload. The DORO payload consists of two stereo cameras, two microphones, one laser telemeter and the pan-tilt unit. The robot embedded components are accessible through the software provided by the vendor ActivMedia Robotics Interface Application (ARIA) libraries, while the payload software is custom.
The functional collects all the capabilities of robot basic. The functional module conducts some actions in order to accomplish basic tasks e.g. acquire image from the arena, collect sensor measures and similar activities. In particular DORO system is endowed with the following modules: acquisition, navigations, laser, joypad, laser and PTU. The navigation module controls the movements of robot.
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