A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Safe systems architectures for autonomous robots
This paper describes work we have carried out in the development of a control system for an autonomous robot excavator. We describe some specific problems which complicate the development of safe systems for autonomous vehicles. We then go on to discuss how we developed an understanding of the hazards of vehicle operation and desribe the architecture of the excavator control system. In this architecture, all system actions are moderated by a safety management sub-system. This system checks all movements against a set of potentially hazardous situations and information from independent sensor systems. Potentially dangerous actions are curtailed or corrected by the safety manager. We also discuss the trade-offs which must be made between safety and economic viability in this type of machine and suggest some areas where we believe that further research is necessary.
Safe systems architectures for autonomous robots
This paper describes work we have carried out in the development of a control system for an autonomous robot excavator. We describe some specific problems which complicate the development of safe systems for autonomous vehicles. We then go on to discuss how we developed an understanding of the hazards of vehicle operation and desribe the architecture of the excavator control system. In this architecture, all system actions are moderated by a safety management sub-system. This system checks all movements against a set of potentially hazardous situations and information from independent sensor systems. Potentially dangerous actions are curtailed or corrected by the safety manager. We also discuss the trade-offs which must be made between safety and economic viability in this type of machine and suggest some areas where we believe that further research is necessary.
Safe systems architectures for autonomous robots
Sichere Rechnerarchitekturen für autonome Roboter
Sommerville, I. (author) / Seward, D. (author) / Morrey, R. (author) / Quayle, S. (author)
1997
13 Seiten, 4 Bilder, 7 Quellen
Conference paper
English
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