A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

Details A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER) A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

Dec 1993

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993rose.nasa..269k&link_type=abstract

In NASA. Langley Research Center, Selected Topics in Robotics for Space Exploration p 269-278 (SEE N94-26278 07-12)

Computer Science

Robotics

Control Systems Design, Lunar Roving Vehicles, Real Time Operation, Robotics, Task Planning (Robotics), Approach Control, Channels (Data Transmission), Lunar Exploration, Multiprocessing (Computers), Terrain

Scientific paper

An approach for a robotic control system which implements so called 'behavioral' control within a realtime multitasking architecture is proposed. The proposed system would attempt to ameliorate some of the problems noted by some researchers when implementing subsumptive or behavioral control systems, particularly with regard to multiple processor systems and realtime operations. The architecture is designed to allow synchronous operations between various behavior modules by taking advantage of a realtime multitasking system's 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.

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