ISSN:
1573-0409
Keywords:
Control systems
;
hierarchical control
;
mobile robots
;
robotic vehicles
;
systems architectures
;
unmanned land vehicles
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract The U.S. Army Laboratory Command, as part of the Department of Defense Robotics Testbed Program, is developing a testbed for cooperative, real-time control of unmanned land vehicles. The program entails the development and integration of many elements which allow the vehicles to perform both autonomous and teleoperated functions. The National Institute of Standards and Technology (NIST) is supporting this program by developing the vehicle control system using the Real-time Control System (RCS) architecture. RCS is a hierarchical, sensory-based control system, initially developed for the control of industrial robots and automated manufacturing systems. NIST is developing the portions of RCS that control all vehicle mobility functions, coordinate the operations of the other subsystems on the vehicle, and communicate between the vehicle and the remote operator control station. This paper reviews the overall control system architecture, the design and implementation of the mobility and communication functions, and results from recent testing.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00357131
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