Xavier: experience with a layered robot architecture
Xavier: experience with a layered robot architecture
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Xavier：分层机器人架构的经验
DOI：
10.1145/272874.272878
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
M. Veloso
中科院分区：
文献类型：
--
作者：
R. Simmons;R. Goodwin;K. Haigh;Sven Koenig;Joseph O'Sullivan;M. Veloso
办公室送货机器人必须执行许多任务，例如收取和发送邮件或传真，归还图书馆书籍和咖啡。他们必须确定访问位置的顺序，规划到达这些位置的路径，可靠地遵循路径，并在此过程中避免静态和动态障碍。可靠性和效率是设计这种自主机器人系统的关键问题。它们必须可靠地处理有噪声的传感器和执行器以及对环境的不完整了解。他们还必须在真实的时间内有效地行动，以处理动态情况。为了实现这些目标，我们开发了一种机器人架构，该架构由四层组成：避障、导航、路径规划和任务规划。这些层是独立的，通信进程始终处于活动状态，处理传感数据和状态信息以更新其决策和操作。自1995年12月以来，我们的机器人架构的一个版本几乎每天都在我们的大楼里使用。截至1997年1月，该机器人已经行驶了超过110公里（65英里），为超过2500个使用我们的万维网界面指定的导航请求提供服务。
Office delivery robots have to perform many tasks such as picking up and delivering mail or faxes, returning library books, and getting coffee. They have to determine the order in which to visit locations, plan paths to those locations, follow paths reliably, and avoid static and dynamic obstacles in the process. Reliability and efficiency are key issues in the design of such autonomous robot systems. They must deal reliably with noisy sensors and actuators and with incomplete knowledge of the environment. They must also act efficiently, in real time, to deal with dynamic situations. To achieve these objectives, we have developed a robot architecture that is composed of four layers: obstacle avoidance, navigation, path planning, and task planning. The layers are independent, communicating processes that are always active, processing sensory data and status information to update their decisions and actions. A version of our robot architecture has been in nearly daily use in our building since December 1995. As of January 1997, the robot has traveled more than 110 kilometers (65 miles) in service of over 2500 navigation requests that were specified using our World Wide Web interface.