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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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Datum
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.