Implementation of Control Systems for Autonomous Robots

摘要

The paper presents diverse control system imple- mentation techniques for autonomous robots. It takes into account that such control systems require programming means for communicating the tasks that have to be executed by the robots and that those devices must have both considerable sensor data gathering capability and technical means for communicating and cooperating with other devices, presumably robots too. The paper systematizes and brings together possible robot programming language implementations tak- ing into account both sensor incorporation and dier- ent modes of cooperation between the system mod- ules, and thus points out what are the most gen- eral control system structures that can be used. A neat system structure fosters easy implementation and simplies modications, if they become neces- sary. Moreover, reusability of code is a by-product, which results in faster implementation of new gener- ations of systems. The paper deals with diverse autonomous robots, e.g. manipulators, mobile robots, walking, climb- ing, swimming and ying machines. All of those machines exert their inuence on the environment through eectors, e.g.: arms, legs, wheels. Both sin- gle and multi-eector robots will be dealt with here.