Hierarchical Control Approach for Autonomous Mobile Robots

摘要

The first robots were used for industrial purposes and usually as programmable multifunctional manipulators, able to move details and tools or performing various specific programmed tasks. Robot technology involves electronics, information technology, mechatronics and design. Thus the design of a mobile robotic system is a difficult and complex task due to its interdisciplinary nature and real-time operation related requirements. In order to create and develop an efficient autonomous mobile robot various knowledge are required: machinery design, control theory [1, 2], micro electronics, software programming, and artificial intelligence [3]. Modern intelligent multifunctional autonomous mobile robots are intended to use not only in industry but also in household (e.g., iRobot Scooba floor washing robot, the iRobot Dirt Dog shop sweeping robot, the iRobot Verro pool cleaning robot or the iRobot Looj gutter cleaning robot).