Reactive Layer Software Architecture Containing Sensing, Actuation and Real-Time Actions for Intelligent Robots

摘要

Architecture of reactive layer software including sensing, actuation and real-time actions for intelligent robots is provided to acquire status data periodically or non-periodically and judge the acquired status data immediately to achieve real-time reactive actions. A reactive layer adopts real-time controllable architecture for reactive components which requires rapid and predictable response characteristic and performs efficient information processing scheduling based on unique priority among modules. Works which require a real-time operation include acquisition of various sensor data, driving of various actuators and a rapid control action from a sensor to an actuator. The reactive layer operates sensors and actuators and is closely related to physical hardware drivers.