A Glimpse into the Methodology of Developing Shell-Based Control Systems for UGVs

摘要

The evolution of robotics resulted in many different methodologies of developing control systems. Yet many robots are still developed intuitively, without any formalization. Existing methodologies rarely offer a complete end-to-end solutions. This article proposes a novel methodology to provide a control system for an Unmanned Ground Vehicle using knowledge-based approach. The methodology adopts the concept of a control system shell and different knowledge representations to provide a flexible yet easily configurable control system. A historical introduction describes the most important methodologies that inspired this paper. Then, the principles of a control system shell and its practical usage are discussed. Conclusions and future remarks finalize the article.