A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots

Authors:
Gerhard Gubisch;Gerald Steinbauer;Martin Weiglhofer;Franz Wotawa
Affiliations:
Institute for Software Technology, Graz University of Technology, Graz, Austria A-8010;Institute for Software Technology, Graz University of Technology, Graz, Austria A-8010;Institute for Software Technology, Graz University of Technology, Graz, Austria A-8010;Institute for Software Technology, Graz University of Technology, Graz, Austria A-8010
Venue:
IEA/AIE '08 Proceedings of the 21st international conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems: New Frontiers in Applied Artificial Intelligence
Year:
2008

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Abstract

One of the elementary tasks of an autonomous mobile robot is the execution of different behavior patterns in order to fulfill a given task. The complexity of this problem is especially high if the robot operates in a dynamic, unpredictable environment and requires the parallel control of multiple actuators. In this paper we present a novel architecture for robust and fast mobile robot control. The architecture is based on Teleo-Reactive Programs. We discuss the benefits and drawbacks of such programs, extend the basic definition for the parallel control of multiple actuators, and propose a new language and a compiler for extended Teleo-Reactive Programs. These tools simplify the creation of new behavior patterns and increase the runtime performance. Finally, we discuss implementation issues of the architecture when applying it to RoboCup Middle-Size soccer robots.