【机器人系列】Smart Home Technologiesppt课件.pptVIP

Reactive, Behavior-Based Control Architectures Advantages Reacts fast to changes Does not rely on accurate models “The world is its own best model” No need for replanning Problems Difficult to anticipate what effect combinations of behaviors will have Difficult to construct strategies that will achieve complex, novel tasks Requires redesign of control system for new tasks Hybrid Control Architectures Hybrid architectures combine reactive control with abstract task planning Abstract task planning layer Deliberative decisions Plans goal directed policies Reactive behavior layer Provides reactive actions Handles sensors and actuators Hybrid Control Policies Task Plan: Behavioral Strategy: Example Task: Changing a Light Bulb Hybrid Control Architectures Advantages Permits goal-based strategies Ensures fast reactions to unexpected changes Reduces complexity of planning Problems Choice of behaviors limits range of possible tasks Behavior interactions have to be well modeled to be able to form plans Traditional Human-Robot Interface: Teleoperation Remote Teleoperation: Direct operation of the robot by the user User uses a 3-D joystick or an exoskeleton to drive the robot Simple to install Removes user from dangerous areas Problems: Requires insight into the mechanism Can be exhaustive Easily leads to operation errors Human-Robot Interaction in Intelligent Environments Personal service robot Controlled and used by untrained users Intuitive, easy to use interface Interface has to “filter” user input Eliminate dangerous instructions Find closest possible action Receive only intermittent commands Robot requires autonomous capabilities User commands can be at various levels of complexity Control system merges instructions and autonomous operation Interact with a variety of humans Humans have to feel “comfortable” around robots Robots have to communicate intentions in a natural way Example: Minerva the Tour Guide Robot (CMU/Bonn) ? CMU Robotics Institute /~thrun/movies/m