Cookies on this website
We use cookies to ensure that we give you the best experience on our website. If you click 'Continue' we'll assume that you are happy to receive all cookies and you won't see this message again. Click 'Find out more' for information on how to change your cookie settings.

Parallel processing plays an important role in sensor-based control of intelligent mobile robots. This paper describes the design and implementation of a parallel processing architecture used for real-time, sensor-based control of mobile robots. This architecture takes the form of a network of sensing and control nodes, based on a novel module that we call Locally Intelligent Control Agent (LICA). It is a hybrid control architecture containing low-level feedback control loops and high-level decision making components. All the sensing, planning, and control tasks for intelligent control of a mobile robot are distributed across such a network, and operate in parallel. It has been used successfully in many experiments to perform planning and navigation tasks in real-time. Such a generic architecture can be readily applied to many diverse applications.

Original publication

DOI

10.1016/0921-8890(95)00070-4

Type

Journal article

Journal

Robotics and Autonomous Systems

Publication Date

01/01/1996

Volume

17

Pages

235 - 257