| タイトル | Architecture for Control of the K9 Rover |
| 本文（外部サイト） | http://hdl.handle.net/2060/20100014161 |
| 著者（英） | Fair, Michael; Bualat, maria; Bresina, John L.; Washington, Richard; Wright, Anne |
| 著者所属（英） | NASA Ames Research Center |
| 発行日 | 2006-03-01 |
| 言語 | eng |
| 内容記述 | Software featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan. |
| NASA分類 | Man/System Technology and Life Support |
| レポートNO | ARC-14587-1 |
| 権利 | Copyright, Distribution as joint owner in the copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/507223 |
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