Hierarchical networked control systems based on mobile robot
Quan-Bao Zhao · Journal of tianjin University of Technology · 2006
In this paper,a three-level hierarchical networked control system is designed for mobile robot to simplify the design process and achieve a friendly man-machine interface.This control system is composed of task-level control,position/attitude-level control and execution-level control.By adopting Struts to implement this architecture,we have saved the time of development,and realized the reusability of software modules.Finally an experiment between the direct control and hierarchical control shows that the control design concept is right and effective.