Robotic Architectures

摘要

In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting
\nall the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous
\nrobots is a challenging and complex task. With a number of existing architectures and tools to choose from,
\na review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic
\narchitectures. A classification of the existing robotic architectures and comparison of different proposals
\nattributes and properties have been carried out. The paper also provides a view on the current state of
\ndesigning robot architectures. It also proposes a conceptual model of a generalised robotic architecture for
\nmobile autonomous robots.