A distributed control architecture for autonomous mobile robots - implementation of the Karlsruhe Multi-Agent Robot Architecture (KAMARA)

摘要

The main advantage of distributed controlled robots and subsystems is the decentralized task execution by the system components. In this way, properties for the design of flexible control architectures like modularity, fault-tolerance, integrability and extendibility are easily obtained; furthermore, it is possible to use the concepts of distributed knowledge and decentralized world representation. On the other hand, coordination between the components, e.g. path planning for collision avoidance between both manipulators in a two-arm system, is very difficult to guarantee. To explain these concepts, the Karlsruhe Autonomous Mobile Robot (KAMRO), which is being developed at our institute, is considered. The robot system consists of several subcomponents like two manipulators, hand-eye cameras, one overhead camera and a mobile platform. Extensions to the distributed control architecture KAMARA (KArlsruhe Multi-Agent Robot Architecture) are described that are used to overcome coordination problems, e.g. as caused by the independent task execution of both manipulator systems. Furthermore, we explain in which way the decentralized world representation can be used for parallel task execution. The intelligent control architecture described is used to replace the former control architecture of the autonomous robot KAMRO. The advantages of distributed control systems will be summarized through the actual implementation of the architecture to the robot KAMRO.