Hybrid Control Architecture of Mobile Robot Based on Subsumption Architecture

Control architecture is an important investigative content in mobile robot. After studying the subsumption architecture, a kind of new hybrid architecture is introduced in this article, which is based on the subsumption architecture and integrates the behaviour based planning. The process of behaviour based planning use the concept of attention to coordinate the behaviours, it can hold the intention of subbehaviors perfectly. The simulation uses 6 layers control architecture including wander, avoiding obstacle, behaviour planning and so on. The results show this architecture is simple and effective

[1]  Yoram Koren,et al.  Real-time obstacle avoidance for fact mobile robots , 1989, IEEE Trans. Syst. Man Cybern..

[2]  Koren,et al.  Real-Time Obstacle Avoidance for Fast Mobile Robots , 2022 .

[3]  Matthias Scheutz,et al.  Architectural mechanisms for dynamic changes of behavior selection strategies in behavior-based systems , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[4]  M. Nuttin,et al.  A behaviour-based blackboard architecture for mobile robots , 1998, IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200).

[5]  Colin Flanagan,et al.  SUBSUMPTION ARCHITECTURE FOR THE CONTROL OF ROBOTS , 2000 .

[6]  Hiroshi Ishiguro,et al.  A robot architecture based on situated modules , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[7]  Ronald C. Arkin,et al.  Motor Schema — Based Mobile Robot Navigation , 1989, Int. J. Robotics Res..

[8]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[9]  Pedro U. Lima,et al.  Multi-Robot Systems , 2005, Innovations in Robot Mobility and Control.

[10]  Ralph Hartley,et al.  Experiments with the subsumption architecture , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[11]  J. K. Rosenblatt,et al.  A fine-grained alternative to the subsumption architecture for mobile robot control , 1989, International 1989 Joint Conference on Neural Networks.

[12]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[13]  Hong Xu,et al.  A behaviour-based blackboard architecture for reactive and efficient task execution of an autonomous robot , 1997, Robotics Auton. Syst..