Behavior-based tactical navigational and mobility control of tandem ground robotic vehicles

In this paper, we have addressed some of technical challenges associated with tactical behaviors modeling of a group of Tandem Mobile Robotic Vehicles (TMRV) in unstructured environment. We have discussed intelligent schemes for robust maneuverability control of the TMRV under a Supervisory Mobility Controller. We have considered four tasks of TMRV including: Terrain Navigation, Tandem Mobility Control; Tactical Strategic Formation and Communication-based Control. We have developed a supervisory mobility controller environmnet using FMCell software with six functional control loop. In this paper, we present and discuss modular and functional architecture of our supervisory mobility controller, in particular, our strategies for separation of supervisory functions according to their complexity, priority, and intelligence requirements. Some examples demonstrating effectiveness and efficiency of the newly developed techniques are presented. We have also discussed how these behaviors can be applied to tandem unmanned ground vehicle systems.