Abstract
The control system of a mobile robot has a number of issues to deal with in real time, including motion control, mapping, localization, path planning, and sensor processing. Intelligent reasoning, task-oriented behaviors, human-robot interfaces, and communications add more tasks to be solved. This naturally leads to a complex hierarchical control system where various tasks have to be processed concurrently. Many low-level tasks can be handled by a robot’s onboard (host) computer. However, other tasks, such as speech recognition or vision processing, are too computationally intensive for one computer to process. In this case, it is better to consider a distributed design for the control system in networked environments. In order to achieve maximum use of the distributed environment, it is important to design and implement the distributed system and its communication mechanisms in an effective and flexible way. This article describes our approach to designing and implementing a distributed control system for an intelligent mobile robot. We present our implementation of such a distributed control system for a prototype mobile robot. We focus our discussion on the system architecture, distributed communication mechanisms, and distributed robot control.
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