Using a blackboard to integrate multiple activities and achieve strategic reasoning for mobile-robot navigation

We have designed a mobile robot system architecture that uses a blackboard to coordinate and integrate several real time activities. An activity is an organizational unit, or module, designed to perform a specific function, such as traversing a hallway, going down steps, crossing over an open channe...

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Bibliographic Details
Published in:IEEE expert 1995-04, Vol.10 (2), p.24-36
Main Authors: Liscano, R., Manz, A., Stuck, E.R., Fayek, R.E., Tigli, J.-Y.
Format: Article
Language:English
Subjects:
Control systems
Councils
Hierarchical systems
Intelligent robots
Mobile robots
Mobile systems
Navigation
Orbital robotics
Real time systems
Robot kinematics
Robot sensing systems
Robotics
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Summary:We have designed a mobile robot system architecture that uses a blackboard to coordinate and integrate several real time activities. An activity is an organizational unit, or module, designed to perform a specific function, such as traversing a hallway, going down steps, crossing over an open channel on the floor, or tracking a landmark. An activity resembles a behavior in that it controls the robot to perform a specific task. It differs from a behavior in that it is designed to perform the specific task in a narrow application domain, whereas a behavior generally resembles a biological response-that is, an organism's response to a stimulus. The activity based blackboard system consists of two hierarchical layers for strategic and reactive reasoning: a blackboard database to keep track of the state of the world and a set of activities to perform real time navigation.< >
ISSN:0885-9000
2374-9407
DOI:10.1109/64.395354