Arbitration of Multiple Control Strategies for Mobile Robots

Mark B. Kadonoff; Faycal Benayad-Cherif; Austin Franklin; James F. Maddox; Lon Muller; Hans Moravec

doi:10.1117/12.937787

25 February 1987 Arbitration of Multiple Control Strategies for Mobile Robots

Mark B. Kadonoff, Faycal Benayad-Cherif, Austin Franklin, James F. Maddox, Lon Muller, Hans Moravec

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937787
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

Reliability and robustness are of primary importance in a mobile robot control system. Widely. varying operating environments place such stringent. demands on the navigation system that no single controller, no matter how sophisticated, is adequate for sustained operation. Consequently sustained operation in the face of changing environmental conditions may be possible only by running several different controllers concurrently. We propose an arbitration mechanism which accepts inputs from multiple controllers, then generates a single optimal result, This arbitor draws upon a knowledge base which defines the limits within which each controller's algorithm will give adequate performance.

Citation Download Citation

Mark B. Kadonoff, Faycal Benayad-Cherif, Austin Franklin, James F. Maddox, Lon Muller, and Hans Moravec "Arbitration of Multiple Control Strategies for Mobile Robots", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937787

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