Subsumption architecture-based real-time multitasking kernel for programming autonomous robots

摘要

Abstract: per describes a real-time multi-tasking kernel called behavior-based robot executive (BRET) that incorporates subsumption architecture-style communication facilities. The result is a portable, flexible system for building control software for behavior-based autonomous robots, which operate well in dynamic environments, including extraterrestrial areas. Unlike `pure' subsumption architecture implementations, this system does not exclude the use of traditional programming methodologies or impose artificial structures on the robot control system. Thus, traditional methods such as real-time data processing, searching or map making, as well as teleoperated commands can be integrated with the behavior-based modules. Two autonomous rovers named Ripley I and Ripley II have been built to test the software system. They were designed to use modified off-the-shelf hardware components in order to reduce construction and debugging time. Their control systems are described at the end of this paper. !17