Hierarchical Control Of A Mobile Robot With A Blackboard Based System

Thomas Skillman; Wolf Kohn; Robb Graham

doi:10.1117/12.949103

10 March 1989 Hierarchical Control Of A Mobile Robot With A Blackboard Based System

Thomas Skillman, Wolf Kohn, Robb Graham

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949103
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Based on our experience with two mobile robot control projects implemented on blackboard based computing systems, a control system design approach has been developed for declarative representation of the control problem and an algorithm decomposition which automatically creates hierarchical controllers. The target computing system architecture, blackboard or otherwise, is captured declaratively in a complexity measure. This measure is used during the decomposition of the controller to optimize the controllers performance on the target computing architecture. Our design approach is presented, and the computational complexity measure is described. A new mobile robot testbed, Ulysses, and potential force field control approach will be used to test our declarative hierarchical controller design procedure.

Citation Download Citation

Thomas Skillman, Wolf Kohn, and Robb Graham "Hierarchical Control Of A Mobile Robot With A Blackboard Based System", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949103

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