Tham khảo tài liệu 'mobile robots - moving intelligence part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Mobile Robotics Moving Intelligence 111 This example requires the use of both continuous and discrete tracking a database of known information and multiple criteria optimization. It is possible to add a large number of real-world issues including position estimation perception obstacles avoidance communication etc. Fig. 9. Simple urban rescue site. In an unstructured environment as shown in Figure 9 we assume that information collected about different positions of the environment could be available to the mobile robot improving its overall knowledge. As any robot moving autonomously in this environment must have some mechanism for identifying the terrain and estimating the safety of the movement between regions blocks it is appropriate for a coordination system to assume that both local obstacle avoidance and a map-building module are available for the robot which is to be controlled. The most important module in this system is the adaptive system to learn about the environment and direct the robot action. A Global Position System GPS may be used to measure the robot position and the distance from the current site to the destination and provide this information to the controller to make its decision on what to do at next move. The GPS system or other sensors could also provides the coordinates of the obstacles for the learning module to learn the map and then aid in avoiding the obstacles when navigating through the intersections A B or G D to destination T. Task control center. The task control center TCC acts a decision-making command center. It takes environmental perception information from sensors and other inputs to the creative controller and derives the criteria functions. We can decompose the robot mission at the urban rescue site shown as Figure 9 into sub-tasks as shown in Figure 10. Moving the robot between the intersections making decisions is based on control-center-specified criteria functions to minimize the cost of mission. It s appropriate to .