Control of autonomous mobile robots with automated planning
| Autor: | Daniel Borrajo Millán, Ezequiel Quintero Barrios, Fernando Fernández Rebollo, Ángel García Olaya |
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| Předmět: |
Engineering
Dependency (UML) business.industry Control (management) Real-time computing Mobile robot Ciencia de la Computación e Inteligencia Artificial Plan (drawing) Automated planning Task (project management) Domain (software engineering) Set (abstract data type) Robotic architectures Control and Systems Engineering Autonomous robots Mobile robots Robot business Software |
| Zdroj: | Scopus-Elsevier RUA. Repositorio Institucional de la Universidad de Alicante Universidad de Alicante (UA) |
| ISSN: | 2008-0670 |
| Popis: | In this paper we present an approach for the control of autonomous robots, based on Automated Planning (AP) techniques, where a control architecture was developed (ROPEM: RObot Plan Execution with Monitoring). The proposed architecture is composed of a set of modules that integrates deliberation with a standard planner, execution, monitoring and replanning. We avoid robotic-device and platform dependency by using a low level control layer, implemented in the Player framework, separated from the high level task execution that depends on the domain we are working on; that way we also ensure reusability of the high and low level layers. As robot task execution is non-deterministic, we can not predict the result of performing a given action and for that reason we also use a module that supervises the execution and detects when we have reached the goals or an unexpected state. Separated from the execution, we included a planning module in charge of determining the actions that will let the robot achieve its high level goals. In order to test the performance of our contribution we conducted a set of experiments on the International Planning Competition (IPC) domain Rovers, with a real robot (Pioneer P3DX). We tested the planning/replanning capabilities of the ROPEM architecture with different controlled sources of uncertainty. This work has been partially supported by the Spanish MICINN under projects TIN2008-06701-C03-03, TRA-2009-008 and Comunidad de Madrid - UC3M (CCG10-UC3M/TIC-5597). |
| Databáze: | OpenAIRE |
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