Towards A Multi-Mission QoS and Energy Manager for Autonomous Mobile Robots
Résumé
An increasing demand on the autonomy of mobile robotic platforms requires adaptive on-line decisions reacting to the dynamic and unpredictable working environment with respect to the robotic mission requirements. These decisions are constrained by the limited computing resources and the energy that the mobile robot can carry. Moreover, in a multi-mission robotic context, these decisions must ensure a minimal quality of service (QoS) for each mission. This decision making problem leverages a characterization and monitoring phase of the system (computing and energy) resources and the robotic missions. In this article, we characterize, monitor and analyze our mobile robotic platform and an autonomous navigation mission as the principal mission of a mobile robot. The results of real experimentations on our robotic platform are analyzed and they highlight the necessity for an efficient mission manager.
Mots clés
path planning
robot dynamics
multimission QoS
Navigation
Batteries
autonomous mobile
quality of service
Program processors
Energy resources
Mobile robots
Monitoring
decision making
mobile robotic platform
on-line decisions
dynamic working environment
unpredictable working environment
robotic mission requirements
energy manager
resource awareness
autonomous mobile robots
energy management
multimission robotic context
robotic missions
autonomous navigation mission
principal mission
phase monitoring
mission manager
Program process