Designing and Implementation Subsumption Architecture for an Autonomous Guided Vehicle
The Autonomous Vehicle Guided (AGV) is one type of mobile robot. the purpose of this work is to improve an AGV with the Subsumption architecture. This architecture will be implementing to two similar AGVs which have been developed. the Subsumption architecture is designed into three levels. the Command level is level to control the actuators with some instructions and monitoring the actuators. the instructions are forward, backward, turn left, and turn right movement which have to reach a desired distance or angle. the Sub-Task level is level to create the trajectory with combination of the movement from the Command level. the Task level is to find an object in an environment. the AGV has a wander behavior which has been developed using simple Rules. Each level has its PEM-module. Planning module uses Kinematics of mobile robot to find the position, Execution-module uses the actuator. Then, Monitoring-module uses KinectTM sensor and Rotary encoder.
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