A new conceptual approach to the design of hybrid control architecture for autonomous mobile robots

Basit Öğe Kaydı
dc.authoridYAVUZ, Hakan/0000-0002-6166-0921
dc.contributor.authorYavuz, H
dc.contributor.authorBradshaw, A
dc.date.accessioned2024-09-18T20:32:54Z
dc.date.available2024-09-18T20:32:54Z
dc.date.issued2002
dc.departmentHatay Mustafa Kemal Üniversitesien_US
dc.description.abstractA detailed analysis and comparison of various control architectures is presented in order to meet the challenging design requirements targeted. All the present advanced control systems have certain advantages and disadvantages compared with each other. Due to the lack of an optimal control system with desired capabilities, such a control system has been the focus of recent robotics research programs. The new approach proposed in this paper is a hybrid control system that takes the advantages of various control structure types thereby integrating them in a way that results in an overall increase in synergy. The proposed control architecture presents a new approach to the design of supervisory control system that utilizes reactive, deliberative, distributed and centralised control approaches, and uses fuzzy logic as well as modular hierarchical structure. The architecture carries out supervision, modification and execution of commands generated by the centralised command arbitration module by conducting fuzzy logic integration of activated behaviours from distributed, independent asynchronous decision making processes that takes information from the user, sensory system and task description, thus providing goal-oriented, real-time responsive and tele-operable control system architecture. The resulting control system was experimented on and it was observed that not only was the response time sufficiently short, but also it exhibited robustness, flexibility, adaptability, portability and expandability.en_US
dc.identifier.doi10.1023/A:1015522622034
dc.identifier.endpage26en_US
dc.identifier.issn0921-0296
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-0036574159en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1en_US
dc.identifier.urihttps://doi.org/10.1023/A:1015522622034
dc.identifier.urihttps://hdl.handle.net/20.500.12483/11201
dc.identifier.volume34en_US
dc.identifier.wosWOS:000175715000001en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherKluwer Academic Publen_US
dc.relation.ispartofJournal of Intelligent & Robotic Systemsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectmobile roboten_US
dc.subjectcontrol architectureen_US
dc.subjectartificial intelligenceen_US
dc.subjectsensor fusionen_US
dc.subjectfuzzy logicen_US
dc.subjectdead-reckoningen_US
dc.subjectconceptual designen_US
dc.titleA new conceptual approach to the design of hybrid control architecture for autonomous mobile robotsen_US
dc.typeArticleen_US

Dosyalar

Orijinal paket
Listeleniyor 1 - 1 / 1
[ N/A ]
İsim:
Tam Metin / Full Text
Boyut:
276.01 KB
Biçim:
Adobe Portable Document Format
İndir

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu