| Unit Mission Based Mission Planning and Automatic Mission Management for Robots |
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Ho-Joo Lee, Won-Ik Park, Do-Jong Kim |
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Defense Unmanned Technology Center, Agency for Defense Development |
| 단위임무 기반 로봇의 임무 계획 및 자동화 임무 관리 방법론 |
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이호주, 박원익, 김도종 |
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국방과학연구소 국방무인기술센터 |
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| Abstract |
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In this paper, it is suggested a method of mission planning and management for robots based on the unit mission. In order to make robots execute given missions continuously as time goes by, a new concept for planning the mission which is composed of one or more unit missions and an automatic mission management scheme are developed. For managing robot's missions in real time, six management methods are devised as well in order to cope with the mismatches, which occur frequently during the mission execution, as to the initial plan. Without the operator's involvement, any mismatch can be adjusted automatically by applying one of the mission management methods. The suggested concept of mission planning and mission management methods based on the unit mission are partially realized in the Dog-Horse robot system and it is checked that it can be a viable one for developing effective robot operation systems. |
| Key Words:
Robot, Mission Planning, Mission Management, Autonomous Navigation |
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