Differences
This shows you the differences between two versions of the page.
| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| en:av:autonomy_and_autonomous_systems:technology:intelligent_control [2020/12/20 16:48] – agrisnik | en:av:autonomy_and_autonomous_systems:technology:intelligent_control [Unknown date] (current) – external edit (Unknown date) 127.0.0.1 | ||
|---|---|---|---|
| Line 2: | Line 2: | ||
| Control of a system is a set of actions needed to force changes in the system’s state according to the set objectives, goals to be met and mission to be accomplished. Intelligence is brought by methods borrowed from Artificial intelligence including machine vision, decision making, learning and other methods. | Control of a system is a set of actions needed to force changes in the system’s state according to the set objectives, goals to be met and mission to be accomplished. Intelligence is brought by methods borrowed from Artificial intelligence including machine vision, decision making, learning and other methods. | ||
| - | One can look at intelligent control and control in general through answers | + | One can look at intelligent control and control in general through answers |
| * **Where the control decisions are made?** In the extreme cases: all of the decisions are made within the autonomous system - a fully centralized case or all of the decisions are made through distributed entities (other robots, cloud infrastructure, | * **Where the control decisions are made?** In the extreme cases: all of the decisions are made within the autonomous system - a fully centralized case or all of the decisions are made through distributed entities (other robots, cloud infrastructure, | ||
| * **What decisions are made by the system itself?** Depending on the decision made by the system and by somebody else or something else, it is possible to implement systems of different autonomy i.e. more decisions are made by the system itself, a higher level of autonomy is granted to the system. | * **What decisions are made by the system itself?** Depending on the decision made by the system and by somebody else or something else, it is possible to implement systems of different autonomy i.e. more decisions are made by the system itself, a higher level of autonomy is granted to the system. | ||
| Line 20: | Line 20: | ||
| < | < | ||
| - | {{ : | + | {{ : |
| < | < | ||
| </ | </ | ||
| + | |||
| + | In this case, intelligent control is achieved through asynchronous execution of different behaviours, which in their essence are finite state machines i.e. each behaviour is a separate module Thus, high flexibility and fast response are achieved. However, the drawback is an unclear reaction on conflicting behaviour results as well as high mission complexity. | ||
| + | |||
| + | **Hybrid architectures** combine the best of both deliberative and reactive (behavioural) architectures. However, the so-called – three-layer architecture is the most known one and combines reactive control at the lowest level and deliberative layer at the top level of the architecture: | ||
| + | |||
| + | < | ||
| + | {{ : | ||
| + | < | ||
| + | </ | ||
| + | |||
| + | * **Behavioral / Reactive layer** – reactive control, implementing and immediate action as a reaction to stimuli. For instance, if the autonomous system bumps into an obstacle it stops immediately. | ||
| + | * **Middle layer** – operational control, implements plan execution routines like obstacle avoidance, localization, | ||
| + | * **Deliberative layer** – strategic control, implements strategic planning and mission control tasks, like estimating how far the robot is from achieving the mission objectives. In many cases, route planning is implemented in this layer. This layer usually is associated with the intelligence of the system and the main indicator of the level of autonomy. | ||
| + | It must be emphasized that each of the layers whatever the architecture is selected might be implemented using a different software development approach, different methods and run on different hardware, which is a typical approach in the automotive domain to shrink response times and increase the overall safety of the system and its users. In military and space application different hardware allows increasing the system’s resilience. | ||
