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A behaviour-based blackboard architecture for mobile robots

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4 Author(s)
Van Brussel, H. ; Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium ; Moreas, R. ; Zaatri, A. ; Nuttin, M.

Mobile robot control architectures are gradually shifting from hierarchical towards behaviour-based. Hierarchical controllers lack flexibility; behaviour-based architectures, on the contrary, enable rapid response to environment changes and, moreover, they feature robustness in industrial environments. A behaviour-based mobile robot system is described enabling task execution in unstructured real-world environments. The behaviour model consists of a number of motion behaviours, including reflexes and voluntary motion behaviours, and knowledge acquisition modules providing task-oriented information about the robot environment. A blackboard model is introduced to overcome some shortcomings of existing systems, especially concerning modularity and task execution capabilities. Some realistic scenarios are described to show the versatility of the system

Published in:

Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE  (Volume:4 )

Date of Conference:

31 Aug-4 Sep 1998