Functionally Distributed Control Architecture for Autonomous Mobile Robots

Tetsuya Taira; Nobuyuki Yamasaki

doi:10.20965/jrm.2004.p0217

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JRM Vol.16 No.2 pp. 217-224

doi: 10.20965/jrm.2004.p0217

(2004)

Paper:

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Functionally Distributed Control Architecture for Autonomous Mobile Robots

Tetsuya Taira, and Nobuyuki Yamasaki

Anzai, Yamasaki, and Imai Lab. Department of Information and Computer Science Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan

Received:

October 20, 2003

Accepted:

December 5, 2003

Published:

April 20, 2004

Keywords:

functionally distributed control, parallel/distributd control, real-time system, autonomous mobile robot

Abstract

This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.

Cite this article as:

T. Taira and N. Yamasaki, “Functionally Distributed Control Architecture for Autonomous Mobile Robots,” J. Robot. Mechatron., Vol.16 No.2, pp. 217-224, 2004.

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References

[1] Rodney A. Brooks, Cynthia Breazeal, Matthew Marjanovi, Brian Scassellati, and Matthew M. Williamson. The Cog Project: Building a Humanoid Robot. In Computation for Metaphors, Analogy and Agents, Vol.1562 of Springer Lecture Notes in Artificial Intelligent. Springer-Verlag, 1998.
[2] Tatsuzo Ishida, Yoshihiro Kuroki, Jinichi Yamaguchi, Msahiro fujita, and Toshi Doi. Motion Entertainment by a Small Humanoid Robot Based on OPEN-R. In IEEE/RSJ International Conference on intelligent Robots and Systems, 2001.
[3] Takayuki Kanda, Hiroshi Ishiguro, Tetsuo Ono, Michita Imai, and Ryohei Nakatsu. Development and Evaluation of an Interactive Humanoid Robot “Robovie.” In IEEE International Conference on Robotics and Automation, 2002
[4] Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kazuhiko Yokoyama, Kazuhiko Akachi, Toshikazu Kawasaki, Shigehiko Ota, and Takakatsu Isozumi. Design of Prototype Humanoid Robotics Platform for HRP. In IEEE/RSJ International Conference on intelligent Robots and Systems, 2002.
[5] Hidenori Kobayashi and Nobuyuki Yamasaki. An Integrated Approach for Implementing Imprecise Computations. IEICE transactions on Information and Systems, Vol.E86-D, No.10, 2003.
[6] Yoshiaki Sakagami, Ryujin Watanabe, Chiaki Aoyama, Shinichi Matsunaga, Nobuo Higaki, and Kikuo Fujimura. The intelligent ASIMO: System overview and integration. In IEEE/RSJ International Conference on intelligent Robots and Systems, 2002.
[7] John A. Stankovic. Misconceptions about realtime computing. IEEE Computer, pp. 2-10, 1988.
[8] Shoji Suzuku, Junichi Iijima, and Shinichi Yuta. Design and implementation of an architecture of autonomous mobile robots for experimental researches. In International Conference on Advanced Robotics, pp. 423-428, 1993.
[9] Nobuyuki Yamasaki. Responsive processor for parallel/distributed real-time control. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1238-1244, 2001.
[10] http://www.itscj.ipsj.or.jp/ipsj-ts/02-06/toc.htm

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Rodney A. Brooks, Cynthia Breazeal, Matthew Marjanovi, Brian Scassellati, and Matthew M. Williamson. The Cog Project: Building a Humanoid Robot. In Computation for Metaphors, Analogy and Agents, Vol.1562 of Springer Lecture Notes in Artificial Intelligent. Springer-Verlag, 1998.

[2] [2] Tatsuzo Ishida, Yoshihiro Kuroki, Jinichi Yamaguchi, Msahiro fujita, and Toshi Doi. Motion Entertainment by a Small Humanoid Robot Based on OPEN-R. In IEEE/RSJ International Conference on intelligent Robots and Systems, 2001.

[3] [3] Takayuki Kanda, Hiroshi Ishiguro, Tetsuo Ono, Michita Imai, and Ryohei Nakatsu. Development and Evaluation of an Interactive Humanoid Robot “Robovie.” In IEEE International Conference on Robotics and Automation, 2002

[4] [4] Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kazuhiko Yokoyama, Kazuhiko Akachi, Toshikazu Kawasaki, Shigehiko Ota, and Takakatsu Isozumi. Design of Prototype Humanoid Robotics Platform for HRP. In IEEE/RSJ International Conference on intelligent Robots and Systems, 2002.

[5] [5] Hidenori Kobayashi and Nobuyuki Yamasaki. An Integrated Approach for Implementing Imprecise Computations. IEICE transactions on Information and Systems, Vol.E86-D, No.10, 2003.

[6] [6] Yoshiaki Sakagami, Ryujin Watanabe, Chiaki Aoyama, Shinichi Matsunaga, Nobuo Higaki, and Kikuo Fujimura. The intelligent ASIMO: System overview and integration. In IEEE/RSJ International Conference on intelligent Robots and Systems, 2002.

[7] [7] John A. Stankovic. Misconceptions about realtime computing. IEEE Computer, pp. 2-10, 1988.

[8] [8] Shoji Suzuku, Junichi Iijima, and Shinichi Yuta. Design and implementation of an architecture of autonomous mobile robots for experimental researches. In International Conference on Advanced Robotics, pp. 423-428, 1993.

[9] [9] Nobuyuki Yamasaki. Responsive processor for parallel/distributed real-time control. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1238-1244, 2001.

[10] [10] http://www.itscj.ipsj.or.jp/ipsj-ts/02-06/toc.htm