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题名: Task planning and behavior scheduling for a Reconfigurable Planetary Robot System
作者: Wang MH(王明辉) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超) ; He XY(贺鑫元) ; Zhang LP(张力平)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Mechatronics Automation
会议日期: July 29-August 1, 2005
会议地点: Niagara Falls, CANADA
会议主办者: IEEE Robot & Automat Soc, Harbin Engn Univ, Kagawa Univ, Univ Elect Sci & Technol China, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn
会议录: 2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2005
页码: 729-734
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-9044-X
关键词: RPRS ; hierarchical hybrid control architecture ; modularized design ; behavior tree ; logic syntactic representation
摘要: In this paper, the synthetical approach of behavior tree and logic syntactic representation is presented to implement task planning and behavior scheduling for autonomous motion, reconfiguration and cooperation in a new planetary rover, Reconfigurable Planetary Robot System (RPRS). This approach provides support for task decomposition, behavior scheduling, synchronization, execution monitoring and exception handling. The analytic process is illustrated in an example. The modularized design method of single child-robot is proposed and implemented. Two-layered hierarchical hybrid control architecture is designed for RPRS, which applies the centralized plan at task-level and the distributed control at motion-level. As a result, child-robots can reconfigure to some configurations and perform some tasks cooperatively. The latest results of this research are demonstrated in the experiments of the prototype.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8898
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
王明辉; 马书根; 李斌; 王越超; 贺鑫元; 张力平.Task planning and behavior scheduling for a Reconfigurable Planetary Robot System.见:IEEE .2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings,NEW YORK,2005,729-734
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