Mobile robot control architecture for reflexive avoidance of moving obstacles

Keum Shik Hong, Tua Agustinus Tamba, Jae Bok Song

Research output: Contribution to journalArticle

21 Citations (Scopus)

Abstract

In this paper, a three-layer (deliberative, sequencing, reflexive) architecture is adopted and the structure of the reflexive layer is discussed. The objective of this architecture is to extract the basic actions that require hard-real-time execution from non-real-time-allowed behaviors by separating them into the reflexive and sequencing layers, respectively. The reflexive layer consists of resources, actions, an action coordinator and a motion controller. To guarantee the hard-real-time execution, a set of simple actions and an action coordinator are designed using the functions provided in the RTAI (Real-Time Application Interface for Linux) environment. Also, an obstacle avoidance algorithm based upon data from a laser range scanner is developed. For the purpose of avoiding a moving obstacle, which is treated as a moving circle through segmentation and circularization processes, a Kalman filter is developed to estimate the distance and the heading of the center of the moving circle. The effectiveness and real-time characteristics of the proposed reflexive layer and the developed algorithms are examined through experiments using scattered stand-still obstacles as well as a moving human.

Original languageEnglish
Pages (from-to)1397-1420
Number of pages24
JournalAdvanced Robotics
Volume22
Issue number13-14
DOIs
Publication statusPublished - 2008 Sep 1

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Keywords

  • Behavior based
  • Control architecture
  • Mobile robot
  • Obstacle avoidance
  • Real time control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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