A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)
The design of a multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER) is described. The control system design attempts to ameliorate some of the problems noted by some researchers when implementing subsumption or behavioral control systems, particularly with regard to multiple processor systems and real-time operations. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules by taking advantage of intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development, and is briefly described.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 10127954
- Report Number(s):
- SAND-94-0408C; CONF-940365-3; ON: DE94007293; BR: GB0103012
- Resource Relation:
- Conference: CIRFFSS 94: American Institute of Aeronautics and Astronauts/National Aerospace and Space Administration (AIAA/NASA) conference on intelligent robots in field, factory, service and space,Houston, TX (United States),21-24 Mar 1994; Other Information: PBD: [1994]
- Country of Publication:
- United States
- Language:
- English
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