Real-time reactive control layer design for intelligent silver-mate robot on RTAI

Intelligent robots are capable of handling complex tasks that includes recognition of vocal commands, logical inference, autonomous navigation and manipulation, etc. To accomplish intelligent behaviors, researchers have proposed a number of control software architectures such as tripodal schematic control architecture (TSCA). To achieve real-time performance for robot’s navigation, we have implemented software components in the reactive layer of TSCA on RTAI (Real-Time Application Interface) for our intelligent robot. In this article, we present our structures of the reactive layer components. Real-time performance of the designed reactive control layer is demonstrated via experimental results.