Publication Type |
Journal Article |
School or College |
College of Science |
Department |
Physics |
Creator |
Efros, Alexei L. |
Other Author |
Dekhil, Mohamed; Sobh, Tarek M. |
Title |
Sensor-based distributed control scheme for mobile robots |
Date |
1995 |
Description |
In this paper we present a sensor-based distributed control scheme for mobile robots. This scheme combines centralized and decentralized control strategies. A server-client model is used to implement this scheme where the server is a process that caries out the commands to be executed, and each client is a process with a certain task. The clients are running in parallel issuing commands to the server which selects the command to be executed based on a predefined priority scheme. In this scheme, a collision avoidance client is running all the time with the highest priority. This improves the performance of the other clients since it removes the burden of avoiding obstacles and allows each client to concentrate on performing its task. The logical sensor approach is used to model the sensory system which provides different levels of data representation with tolerance measures and analysis. The simulation results of this model are presented with a brief discussion and conclusion on these results. |
Type |
Text |
Publisher |
Institute of Electrical and Electronics Engineers (IEEE) |
First Page |
304 |
Last Page |
309 |
DOI |
10.1109/ISIC.1995.525075 |
Subject |
Sensor-based; Distributed control scheme |
Subject LCSH |
Mobile robots; Robots -- Control systems |
Language |
eng |
Conference Title |
Tenth International Symposium on Intelligent Control; 27-29 Aug. 1995; Monterey, CA, USA |
Bibliographic Citation |
Dekhil, M., Sobh, T. M., & Efros, A. L. (1996). Sensor-based distributed control scheme for mobile robots. IEEE International Symposium on Intelligent Control - Proceedings, 304-9. |
Relation is Part of |
ARPANET |
Rights Management |
(c) 1995 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. http://dx.doi.org/10.1109/ISIC.1995.525075 |
Format Medium |
application/pdf |
Format Extent |
1,092,300 bytes |
Identifier |
ir-main,9541 |
ARK |
ark:/87278/s6jq1jfj |
Setname |
ir_uspace |
ID |
705150 |
Reference URL |
https://collections.lib.utah.edu/ark:/87278/s6jq1jfj |