Hierarchical Control Approach for Autonomous Mobile Robots

Abstract

Methods for intelligent mobile robots control which are based on principles of hierarchical control systems will be reviewed in this article. Hierarchical intelligent mobile robots are new direction for development of robotics, which have wide application perspectives. Despite increasing progress in technologies, the main problem of autonomous mobile robots development is that, they are ineffective in their control. In each of the hierarchical control levels (movement in space, problems solving and signal processing sets) will define by specific management of objectives, goals and rules. Communication and management between hierarchies are implemented by higher level of hierarchy using obtained information about the environment and lover level of hierarchy. Studies have shown that artificial neural networks, fuzzy logic are widely used for the development of the hierarchical systems. The main focus of the work is on communications in hierarchy levels, since the robot must be controlled in real time. Ill. 4, bibl. 13 (in English; abstracts in English and Lithuanian).http://dx.doi.org/10.5755/j01.eee.110.4.298

Design of Jitter Compensation Algorithm for Robot Vision Based on Optical Flow and Kalman Filter

“…In real environment, the surface evenness always causes the camera jitters to affect the precision of operation. Electronic vision stabilization has been widely used in the autonomous robot vision [ 1 – 4 ], which includes motion estimation, smoothing and compensation processes [ 5 ]. The method of BMA (Blocks Matching Algorithm) was provided with the exhaustive search method in [ 6 ].…”