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Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the THOR project

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2013

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Gesellschaft für Informatik e.V.

Zusammenfassung

The enclosing Thor (Terraforming Heavy Outdoor Robot) project's goal is to perform typical tasks of a bucket excavator autonomously, like landscaping, mass excavation, or material transport on construction or mining sites. The paper at hand presents an approach for close interoperateration between its reactive behavior-based control approach for highly dynamic environments with a lot of disturbances and a realistic dynamic simulation of the robot for safe parameter evaluation under given time boundaries.

Beschreibung

Schmidt, Daniel; Juhasz, Tamas; Berns, Karsten; Schmucker, Ulrich (2013): Interconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the THOR project. INFORMATIK 2013 – Informatik angepasst an Mensch, Organisation und Umwelt. Bonn: Gesellschaft für Informatik e.V.. PISSN: 1617-5468. ISBN: 978-3-88579-614-5. pp. 2795-2809. Regular Research Papers. Koblenz. 16.-20. September 2013

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