Real-Time Reactive Control Layer Design for Intelligent Silver-Mate Robot on RTAI
Abstract: Intelligent robots are capable of handling complex tasks that includes recognition of vocal commands, logical inference, autonomous navigation and manipulation, etc. To accomplish intelligent behaviors, researchers have proposed a number of control software architectures such as tripodal schematic control architecture (TSCA).
Abstract: Intelligent robots are capable of handling complex tasks that includes recognition of vocal commands, logical inference, autonomous navigation and manipulation, etc. To accomplish intelligent behaviors, researchers have proposed a number of control software architectures such as tripodal schematic control architecture (TSCA).
To achieve real-time performance for robot's navigation, we have implemented software components
in the reactive layer of TSCA on RTAI (Real-Time Application Interface) for our intelligent robot. In
this article, we present our structures of the reactive layer components. Real-time performance of the
designed reactive control layer is demonstrated via experimental results.
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