A multi-loop robust navigation architecture for mobile robots

27 November 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2 (10504729) , 970-975
https://doi.org/10.1109/robot.1998.677213

Abstract

Describes a multi-loop, modular navigation architecture for mobile robots whose structure allows the execution of most types of navigation tasks in a highly robust manner. The modularity allows the clear separation of functions according to their complexity and priority. We propose a clear separation between local and global navigation in such a way that both can run independently, but an adequate alternation/competition between them allows accomplishment of trajectory execution including avoidance of unknown obstacles. The multi-loop nature of the architecture ensures adequate stability at different levels yielding safe navigation and accomplishment of higher level tasks. Examples may range from goal reaching in some point of the environment to a 3D-environment mapping application, as this is the case in this work.

Keywords

This publication has 7 references indexed in Scilit:

Smooth local path planning for autonomous vehicles
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
Local perception maps for autonomous robot navigation
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2002
Perception maps for the local navigation of a mobile robot: a neural network approach
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2002
The integration of dissimilar control architectures for mobile robot applications
Journal of Robotic Systems, 1997
Active view selection for efficient 3D scene reconstruction
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1996
Control of Nonholonomic Wheeled Mobile Robots by State Feedback Linearization
The International Journal of Robotics Research, 1995
A robust layered control system for a mobile robot
IEEE Journal on Robotics and Automation, 1986