Autonomous and Teleoperated Control of the AURORA Mobile Robot (original) (raw)

A review of control architectures for autonomous navigation of mobile robots

Int. J. Phys. …, 2011

A mobile robot as an intelligent system needs to sense the surroundings, perceive the working environment, plan a trajectory and execute proper reaction using the information. Robotic control architectures define how these abilities should be integrated to construct and develop an autonomous navigation. The control architectures could be classified into three categories: Deliberative (Centralized) navigation, Reactive (Behaviour-based) navigation and hybrid (Deliberative -Reactive) navigation. This paper reviews various control architectures for autonomous navigation of mobile robots. The significance, advantages and drawbacks of the architectures are discussed and compared with each other.

Design and implementation of an electronic architecture for an agricultural mobile robot

Revista Brasileira de Engenharia Agrícola e Ambiental, 2010

A current trend in the agricultural area is the development of mobile robots and autonomous vehicles for remote sensing. One of the major challenges in the design of these robots is the development of the electronic architecture for the integration and control of the devices. Recent applications of mobile robots have used distributed architectures based on communication networks. A technology that has been widely used as an embedded network is the CAN protocol. The implementation of the ISO11783 standard represents the standardization of the CAN for application in agricultural machinery. This work describes the design and implementation of an electronic architecture for a mobile agricultural robot. The discussions are focused on the developed architecture, the wireless communication system for teleoperation and the distributed control based on CAN protocol and ISO11783. The evaluation of the developed system was based on the analysis of performance parameters such as motor response ...

Embedded Implementation of Mobile Robots Control

In some embedded applications, the global control objective can be split in different control objectives from simpler to more complex ones. In this sense, simple controllers can achieve the basic control problems and controllers with more computational resources can be in charge of more complicated decisions. In these situations, a control architecture for coordinating all the components is needed.

A Distributed Hardware-software Architecture for Control an Autonomous Mobile Robot

2008

In this paper, we introduce a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The Kapeck robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller-based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontrollerbased boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks.

A Advanced Telerobotic Control System for a Mobile Robot with Multisensor Feedback

1995

This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-D animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, oline teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.

The autonomous mobile robot AURORA for greenhouse operation

IEEE Robotics & Automation Magazine, 1996

AURORA has been conceived in order to substitute hard and unhealthy human work inside greenhouses by means of an autonomous mobile robot outfitted with appropriate sensors and operation devices. Emphasis has been put in the development of a new robotic platform specifically designed for greenhouse tasks, governed by a control architecture that supports both autonomous navigation and shared human control.