Task planning and behavior scheduling for a Reconfigurable Planetary Robot System
文献类型：会议论文
| 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)
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| 出版日期 | 2005 |
| 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 |
| 关键词 | RPRS hierarchical hybrid control architecture modularized design behavior tree logic syntactic representation |
| 页码 | 729-734 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 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
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-9044-X |
| WOS记录号 | WOS:000238860801030 |
| 源URL | [http://ir.sia.cn/handle/173321/8898]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang MH,Ma SG,Li B,et al. Task planning and behavior scheduling for a Reconfigurable Planetary Robot System[C]. 见:IEEE International Conference on Mechatronics Automation. Niagara Falls, CANADA. July 29-August 1, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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