Tham khảo tài liệu 'advances in robot navigation part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Knowledge Modelling in Two-Level Decision Making for Robot Navigation 209 Fig. 1. Peoplebot robot components ActivMedia Robotics 2003 and picture in action Fig. 2. Navigation architecture For navigation purposes a typical four-layer navigation architecture has been implemented see Fig. 2 . The top layer is devoted to path planning that is the generation of the reference trajectory between the current robot position and the target commanded by the user touch 210 Advances in Robot Navigation screen or speech recognition modules . Then a motion controller based on pure-pursuit Coulter 1992 is used to generate the actual wheel velocities. In order to ensure that the wheels move at the desired setpoints two low-level PID controllers were tuned. Finally a layer devoted to localization is implemented. This localization layer is detailed subsequently. 3. Methodology The knowledge model about the localization for social robots described in this work is based on some extensions of knowledge representation methodologies like CommonKADS and the DSM. Here we introduce those approaches and a short summary of the localization algorithms implemented in the system. Knowledge representation the CommonKADS methodology The CommonKADS methodology was consolidated as a knowledge engineering technique to develop knowledge-based systems KBS in the early 90 s Schreiber et al. 1994 . This method provides two types of support for the production of KBS in an industrial approach firstly a lifecycle enabling a response to be made to technical and economic constraints control of the production process quality assurance of the system . and secondly a set of models which structures the development of the system especially the tasks of analysis and the transformation of expert knowledge into a form exploitable by the machine Schreiber et al. 1999 . Our proposal supposes to work in the expertise or knowledge model one of the six models in CommonKADS. The rest are organizational it supports the .
