Towards a real-time architecture for obstacle avoidance and path planning in mobile robots

The design and partial implementation of a real-time architecture for a mobile robot, aimed particularly towards a vehicle developed for factory automation, is described. The authors develop a layered design to equip the robot with a number of behavioral competences. They examine sensing and a potential field algorithm especially to achieve modification of behavior at a speed close to the robot's operational speed. It is shown how the layered architecture interfaces to the original onboard architecture, which provided sophisticated localization but no ability to deal with environmental exceptions.<<ETX>>

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