Why is it so difficult for a robot to pass through a doorway using ultrasonic sensors?
Why is it so difficult for a robot to pass through a doorway using ultrasonic sensors?
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为什么使用超声波传感器的机器人通过门口如此困难？
DOI：
10.1109/robot.1994.351090
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发表时间：
1994
期刊：
影响因子：
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通讯作者：
Maria L. Gini
中科院分区：
文献类型：
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作者：
J. Budenske;Maria L. Gini
复杂的任务通常被描述为高层次的目标，而忽略了如何实现这些目标的细节。然而，要控制机器人，必须提供细节。让机器人移动到并通过一个未知的，可能是狭窄的门口，就是这样一个任务的例子。作者说明了这样一个任务的困难，使用实际数据从一个真实的机器人。作者展示了如何在执行时执行从高级目标到原始命令的转换，并提出了一种基于可重构对象的架构，该架构包含有关传感器和执行器的领域知识和知识。然后，作者展示了他们的方法是如何用于解决所示的任务。<<ETX>>
Complex tasks are usually described as high-level goals, leaving out the details on how to achieve them. However, to control a robot, details must be provided. Having the robot move itself to and through an unknown, and possibly narrow, doorway is an example of such a task. The authors illustrate the difficulty of such a task using actual data from a real robot. The authors show how the transformation from high-level goals to primitive commands can be performed at execution time and they propose an architecture based on reconfigurable objects that contain domain knowledge and knowledge about the sensors and actuators available. The authors then show how their approach is used in solving the illustrated task.<<ETX>>