Framework for modular robot control architecture
Résumé
This paper presents a multi-level formalism to achieve a hierarchical control architecture of a robot being either autonomous or tele-operated. This formalism is based on a graphical representation which allows to precisely distinguish each feature of a given robotic application. We have identified five possible levels of control for the autonomous mode and as much for the tele-operated mode. When taking into account these two modes the designer has the ability to directly integrate a human operator action within any level of the proposed structure. Once the architecture is defined for a given robot, the implantation is performed using the chosen hardware and software environment (e.g. operating system, real-time kernel, programming language...). Two examples of mobile and tele-operated robots, designed and developed, validate experimentally the proposed architecture.