Planning Architecture For Supervision And Control Of An Intelligent Agent

The most basic tasks of daily life of a human can become extremely complex when analyzed more closely. For example, attending a convention or conference can be a real headache. Above all, he must consult his calendar to ensure availability. Subsequently, he must go to the scene of the event by combining various modes of transportation such as cars, buses and perhaps even plane while these tasks may seem simple to us humans, it is not nearly as obvious to a robot. To be autonomous, mobile robots must have many skills. First, it must be able to perceive its environment and locate in it.

To do this, a robot has sensors, such as sonar and laser scanning device for measuring distances between itself and nearby obstacles.

Once located in the environment, the robot must be able to move from one point to another by finding safe and effective ways to avoid collisions with obstacles. In addition, a robot is often called upon to communicate with people or other agents nearby. This can be done in various ways, such as voice or from a GUI.

In addition to generally perceive its environment, a robot must often be able to identify objects, recognize people, read signs, and even identifying graphic symbols. These operations are performed by analyzing pictures acquired by the camera or cameras installed on the robot. After identifying and locating an object, we can imagine that the robot is then manipulating that object with its robot arm.

Finally, another robotic capacity, as important as those listed above, is the ability for a robot to make his own decisions for conduct and coordinate complex missions. This capacity is very important because, for many robotic tasks, may be many ways to achieve them. The robot has to select the best actions to take to achieve its mission adequately, by reasoning.

Although many other capacities of perception and action can be added to this list, it is important to bear in mind that the mobile robotics is a highly multidisciplinary subject of much research in of very diverse disciplines. For this reason, in this article, use most of these robotic capabilities and we believe we have access to them because they are derived from other works, apart those presented here.

State of art:

Concepts of robotics

before entering the heart of the matter, it is important to have a general idea of how mobile robots function in order to understand the interactions between the different modules which we refer.

• Components of a mobile robot

basically, a mobile robot consists of hardware and software components. Among the hardware components, there is a moving platform which holds all the other components such as sensors, actuators and energy source (batteries).

Sensors

The sensors are operable to acquire data from the environment.

Sensors typically installed on a mobile robot (see Figure 1.1) are ultrasonic sonar, laser proximity sensor, encoders wheels (odometer), one or two optical cameras and microphones. The types of information collected as well as their accuracy change greatly from one sensor to another. For example, Figure 1.2 shows a laser proximity sensor (c) to better perceive the contours of the environment (a) sonar (b) because the

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