| || Robotic Architectures
Author : Mtshali, Mbali;Engelbrecht, Andries
Source : Defence Science Journal ; Vol:60(1) ; 2010 ; pp 015-022
Subject : 681.3 Computer Science;Defence Science Journal
Keywords : Mobile robotic systems;autonomous robots;robotic architectures;robotics;mobile robots
Abstract : In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.