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On the Design of a Control Architecture for an Autonomous Mobile Robot

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Advances in Intelligent Autonomous Systems

Abstract

In this chapter we present a model of a hierarchic control architecture for Autonomous Mobile Robots (AMR) as well as its use in the design of an autonomous wheeled mobile platform for transportation in an industrial environment. This model results from successive incremental refinements consolidated over the years with the experience accumulated in a number of R&D projects (e.g., [1], [2]) with special emphasis for the NATO funded PO-Robot project [3].

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Author information

Authors and Affiliations

  1. Instituto Superior de Engenharia do Porto and Instituto de Sistemas e Robótica-Porto, Rua de S. Tomé, 4200, Porto, Portugal

    E. Pereira da Silva

  2. Faculdade de Engenharia da Universidade do Porto, Rua dos Bragas, 4099, Porto Codex, Portugal

    F. Lobo Pereira & J. Borges Sousa

  3. Instituto de Sistemas e Robótica-Porto, Rua dos Bragas, 4099, Porto Codex, Portugal

    F. Lobo Pereira & J. Borges Sousa

Authors
  1. E. Pereira da Silva
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  2. F. Lobo Pereira
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  3. J. Borges Sousa
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, National Technical University of Athens, Greece

    Spyros G. Tzafestas

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© 1999 Springer Science+Business Media Dordrecht

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Pereira da Silva, E., Pereira, F.L., Sousa, J.B. (1999). On the Design of a Control Architecture for an Autonomous Mobile Robot. In: Tzafestas, S.G. (eds) Advances in Intelligent Autonomous Systems. International Series on Microprocessor-Based and Intelligent Systems Engineering, vol 18. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4790-3_14

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  • DOI: https://doi.org/10.1007/978-94-011-4790-3_14

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-010-6012-7

  • Online ISBN: 978-94-011-4790-3

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