LICAs: a modular architecture for intelligent control of mobile robots
LICAs: a modular architecture for intelligent control of mobile robots
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LICA：用于移动机器人智能控制的模块化架构
DOI：
10.1109/iros.1995.525838
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
P. P. Smith
中科院分区：
文献类型：
--
作者：
Huosheng Hu;M. Brady;J. Grothusen;F. Li;P. P. Smith
过去几年，牛津大学开发了一种用于移动机器人智能控制的模块化架构。该架构采用基于“本地智能控制代理”（LICA）的多个传感和控制层的形式。这种设计的核心是“通信顺序进程”(CSP) 的概念。本文简要描述了牛津移动机器人基于 LICA 的控制架构。给出了声纳和主动视觉系统的两种典型操作，以证明其灵活性和效率。这种模块化和统一的系统已获得商业许可，并允许集成各种传感器和执行器以满足未来的需求。
A modular architecture used for intelligent control of mobile robots has been developed at Oxford University over the last few years. This architecture takes the form of multiple sensing and control layers, based on "locally intelligent control agents" (LICAs). Central to such a design is the concept of "communication sequential processes" (CSP). This paper describes briefly the LICA-based control architecture for an Oxford mobile robot. Two typical operations of sonar and active vision systems have been given to demonstrate its flexibility and efficiency. Such a modular and unified system has been licensed commercially and allows for the integration of all kinds of sensors and actuators to meet future needs.