Knowledge-Based Control of Reactive Systems with Multi-Layer Architecture

This paper presents a concept of an integrated development platform for fast and error-free implementation of embedded intelligent systems. The main idea reside in dividing the control program into separate logic layers. The lowest-level layer uses embedded real-time operating system. The high-level control is knowledge-based and provides an intelligent system behavior. The paper presents some implementation details of the low-level layer and the concept of the intelligent control layer. The concept is then applied to the Hexorll mobile robot platform.