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

Schmidt, DanielJuhasz, TamasBerns, KarstenSchmucker, UlrichHorbach, Matthias2019-03-072019-03-072013978-3-88579-614-5https://dl.gi.de/handle/20.500.12116/20697The 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.enInterconnection of the behavior-based control architecture and a detailed mechatronic machine model for realistic behavior verification of the THOR projectText/Conference Paper1617-5468