A layered control architecture for mobile robot navigation

2.50
Hdl Handle:
http://hdl.handle.net/10547/622047
Title:
A layered control architecture for mobile robot navigation
Authors:
Qiu, Jiancheng
Abstract:
This thesis addresses the problem of how to control an autonomous mobile robot navigation in indoor environments, in the face of sensor noise, imprecise information, uncertainty and limited response time. The thesis argues that the effective control of autonomous mobile robots can be achieved by organising low level and higher level control activities into a layered architecture. The low level reactive control allows the robot to respond to contingencies quickly. The higher level control allows the robot to make longer term decisions and arranges appropriate sequences for a task execution. The thesis describes the design and implementation of a two layer control architecture, a task template based sequencing layer and a fuzzy behaviour based low level control layer. The sequencing layer works at the pace of the higher level of abstraction, interprets a task plan, mediates and monitors the controlling activities. While the low level performs fast computation in response to dynamic changes in the real world and carries out robust control under uncertainty. The organisation and fusion of fuzzy behaviours are described extensively for the construction of a low level control system. A learning methodology is also developed to systematically learn fuzzy behaviours and the behaviour selection network and therefore solve the difficulties in configuring the low level control layer. A two layer control system has been implemented and used to control a simulated mobile robot performing two tasks in simulated indoor environments. The effectiveness of the layered control and learning methodology is demonstrated through the traces of controlling activities at the two different levels. The results also show a general design methodology that the high level should be used to guide the robot's actions while the low level takes care of detailed control in the face of sensor noise and environment uncertainty in real time.
Citation:
Qiu, J. (1998) 'A layered control architecture for mobile robot navigation'. PhD thesis. University of Luton.
Publisher:
University of Bedfordshire
Issue Date:
Jan-1998
URI:
http://hdl.handle.net/10547/622047
Type:
Thesis or dissertation
Language:
en
Description:
A Thesis submitted to the University Research Degree Committee in fulfillment ofthe requirements for the degree of DOCTOR OF PHILOSOPHY in Robotics
Appears in Collections:
PhD e-theses

Full metadata record

DC FieldValue Language
dc.contributor.authorQiu, Jianchengen
dc.date.accessioned2017-03-09T09:47:20Z-
dc.date.available2017-03-09T09:47:20Z-
dc.date.issued1998-01-
dc.identifier.citationQiu, J. (1998) 'A layered control architecture for mobile robot navigation'. PhD thesis. University of Luton.en
dc.identifier.urihttp://hdl.handle.net/10547/622047-
dc.descriptionA Thesis submitted to the University Research Degree Committee in fulfillment ofthe requirements for the degree of DOCTOR OF PHILOSOPHY in Roboticsen
dc.description.abstractThis thesis addresses the problem of how to control an autonomous mobile robot navigation in indoor environments, in the face of sensor noise, imprecise information, uncertainty and limited response time. The thesis argues that the effective control of autonomous mobile robots can be achieved by organising low level and higher level control activities into a layered architecture. The low level reactive control allows the robot to respond to contingencies quickly. The higher level control allows the robot to make longer term decisions and arranges appropriate sequences for a task execution. The thesis describes the design and implementation of a two layer control architecture, a task template based sequencing layer and a fuzzy behaviour based low level control layer. The sequencing layer works at the pace of the higher level of abstraction, interprets a task plan, mediates and monitors the controlling activities. While the low level performs fast computation in response to dynamic changes in the real world and carries out robust control under uncertainty. The organisation and fusion of fuzzy behaviours are described extensively for the construction of a low level control system. A learning methodology is also developed to systematically learn fuzzy behaviours and the behaviour selection network and therefore solve the difficulties in configuring the low level control layer. A two layer control system has been implemented and used to control a simulated mobile robot performing two tasks in simulated indoor environments. The effectiveness of the layered control and learning methodology is demonstrated through the traces of controlling activities at the two different levels. The results also show a general design methodology that the high level should be used to guide the robot's actions while the low level takes care of detailed control in the face of sensor noise and environment uncertainty in real time.en
dc.language.isoenen
dc.publisherUniversity of Bedfordshireen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectH671 Roboticsen
dc.subjectroboticsen
dc.subjectrobot navigationen
dc.subjectlayered control architectureen
dc.titleA layered control architecture for mobile robot navigationen
dc.typeThesis or dissertationen
dc.type.qualificationnamePhDen_GB
dc.type.qualificationlevelPhDen
dc.publisher.institutionUniversity of Bedfordshireen
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