NHC Architecture

The NHC architecture was an architecture that implemented the deliberative paradigm. It’s main contribution was it’s decomposition of the PLAN phase on 3 different subsystems, which aimed to support navigation:

• Mission Planner: takes the current mission and decomposes it on terms that the other functions can understand. Then, accesses the world model and sets the goal to the navigator.
• Navigator: generates the path from the current location to the goal. Generates a set of waypoints that are passed to the Pilot.
• Pilot: takes the first line/segment of the path and translates this into actions for the robot, which are performed by the low-level controllers.

Notes References

20210711201454 Robotics Basics - Deliberative Paradigm

20210514183815 INDEX - Robotics

References

(Murphy 2000)

Murphy, Robin. 2000. Introduction to AI Robotics. Intelligent Robotics and Autonomous Agents. Cambridge, Mass: MIT Press.