Exception handling system for autonomous robots based on PES
| Autor: | Geleyn R. Meijer, Erik Gaussens, Louis O. Hertzberger, T. L. Mai, Francois Arlabosse |
|---|---|
| Rok vydání: | 1991 |
| Předmět: |
business.industry
Heuristic Computer science General Mathematics Distributed computing Exception handling computer.software_genre Expert system Computer Science Applications Task (project management) Knowledge base Control and Systems Engineering Key (cryptography) Robot Artificial intelligence business computer Reactive system Software |
| Zdroj: | Robotics and Autonomous Systems. 7:197-209 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/0921-8890(91)90042-j |
| Popis: | To reach autonomy of a robot system, the robot needs to be able to adapt itself to the changing environment. One of the key capabilities required for such a system is exception handling. We realized exception handling mechanisms for autonomous robots with a Procedural Expert System (PES). The work described in this paper is based on the Exception Handling Model (EHM), a model describing the handling of exceptions within the framework of an a priori plan. Exception handling provides the robot with capabilities to monitor its operations. Upon the detection of an exception, a diagnosis can be performed which leads to a classification of the exception at hand. Task rescheduling and recovery planning is performed based on heuristic knowledge of the application. Modelling of a robot assembly application and the realization of EHM with PES are described in the paper. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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