最新Robotics机器人技术(PPT).pptVIP

Behavior-Based Architectures: Subsumption Example Subsumption architecture is one of the earliest behavior-based architectures Behaviors are arranged in a strict priority order where higher priority behaviors subsume lower priority ones as long as they are not inhibited. 最新Robotics机器人技术(PPT)全文共58页，当前为第29页。 Subsumption Example A variety of tasks can be robustly performed from a small number of behavioral elements ? MIT AI Lab /~maja/robot-video.mpg 最新Robotics机器人技术(PPT)全文共58页，当前为第30页。 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 最新Robotics机器人技术(PPT)全文共58页，当前为第31页。 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 最新Robotics机器人技术(PPT)全文共58页，当前为第32页。 Hybrid Control Policies Task Plan: Behavioral Strategy: 最新Robotics机器人技术(PPT)全文共58页，当前为第33页。 Example Task: Changing a Light Bulb 最新Robotics机器人技术(PPT)全文共58页，当前为第34页。 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 最新Robotics机器人技术(PPT)全文共58页，当前为第35页。 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 e