Any sensory system can be viewed as a passive or dumb elementwhich provides raw data. It can also be viewed as an intelligent elementwhich returns “analyzed” information. Finally, it can beviewed as a commanding element which sends commands to the physicalsystem. Each of these views is used in different situations and fordifferent tasks. Commanding sensors are an extension to the logicalsensor approach in which a mapping from events to actions is added tothe sensor model. In a previous paper (1995), we proposed a sensor-baseddistributed control scheme for mobile robots along with severalsimulation results. In this paper, the application of this scheme tocontrol a real mobile robot is presented and the results of severalexperiments are discussed. A server-client model is used to implementthis scheme where the server is a process that carries out the commandsto be executed, and each client is a process with a certain task. Thelogical sensor approach is used to model the sensory system whichprovides different levels of data representation with tolerance measuresand analysis
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