Research on mobile robote behavior fusion based on layered structure

In view of the traditional behavior fusions’ insufficiency in behavior interaction, a layered behavior fusion method is presented. Behavior references are environmental information and robot’s moving direction and velocity, and behavior outputs are robot’s moving direction and velocity. Behavior is arranged in different layer according to its object’s relation, lower behavior takes upper behavior’s output as its references, the lowest behavior output the finally fusion results. Finally taking robot motion planning in unknown dynamic environment as research background, realized the layered behavior fusion architecture. The validity of the method is proved by simulation experiment .