センサ情報に基づく階層化制御システムの提案

抄録

The current control system for the robot is valid if its environment is precisely known, however, it is invalid for the unknown environment such as space investigation and disaster area. Although the subsumption architecture is famous that it is robust to the environmental change, it has some problems: the layer definition is unclear and the way to resolve the confliction among layers is unclear. We propose to use sensor information as layer definition. As a result, confliction among layers is basically not generated. The proposed method is applied to a mobile robot and numerical simulation results are shown.