CONTROL ARCHITECTURE FOR MOBILE ROBOT OPERATION AND NAVIGATION

This paper presents the navigation and operation system (NOS) for a mu ltipurpose industrial autonomous mobile robot for both indoor and outd oor environments, This architecture supports task specification in ter ms of an event-driven state-based machine that provides high quality m ission performance in uncertain environments, All processes in the NOS have been integrated in a distributed hierarchical architecture desig ned to consider the real-time constraints of each control level of the system, Particular task models obtained from the system requirements specifications are integrated at the highest level of the architecture so that the rest of the levels remain unchanged for a wide range of i ndustrial applications, such as transportation and operation with onbo ard devices.