TY - GEN
T1 - Modular decentralized robot control
AU - Mutambara, A. G.O.
AU - Durrant-Whyte, H. F.
N1 - Publisher Copyright:
© 1993 IEEE.
PY - 1993
Y1 - 1993
N2 - This paper addresses the design, verification and implementation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. A decentralized Information filter is developed and extended to solve the decentralized control problem keeping consistency with information space ideas. Locally processed information is shared by all nodes so that optimal control is computed using the best, locally determined, global state estimate. There is no central processing site and hence the system performance degrades gracefully under structural perturbations. Control is determined such that the expected value of a quadratic performance index is minimized. The designed system is modelled and verified using Communicating Sequential Process (CSP) algebra. Software is developed in Parallel ANSI C. A simulated test implementation is effected using transputer based hardware. Validation and performance analysis are carried out with respect to conventional centralized control. Application to effect intelligent control for a modular, decentralized navigating robot 1 is considered.
AB - This paper addresses the design, verification and implementation of a fully decentralized Linear Quadratic Gaussian (LQG) control system based on transputer architecture. A decentralized Information filter is developed and extended to solve the decentralized control problem keeping consistency with information space ideas. Locally processed information is shared by all nodes so that optimal control is computed using the best, locally determined, global state estimate. There is no central processing site and hence the system performance degrades gracefully under structural perturbations. Control is determined such that the expected value of a quadratic performance index is minimized. The designed system is modelled and verified using Communicating Sequential Process (CSP) algebra. Software is developed in Parallel ANSI C. A simulated test implementation is effected using transputer based hardware. Validation and performance analysis are carried out with respect to conventional centralized control. Application to effect intelligent control for a modular, decentralized navigating robot 1 is considered.
UR - http://www.scopus.com/inward/record.url?scp=85064641943&partnerID=8YFLogxK
U2 - 10.1109/IVS.1993.697305
DO - 10.1109/IVS.1993.697305
M3 - Conference contribution
AN - SCOPUS:85064641943
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 101
EP - 106
BT - Proceedings of the Intelligent Vehicles 1993 Symposium, IV 1993
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1993 Intelligent Vehicles Symposium, IV 1993
Y2 - 14 July 1993 through 16 July 1993
ER -