Multiagent and event driven based dynamic collision avoidance for an autonomous mobile robot

Obstacle avoidance and other functional behaviors for autonomous mobile robot navigation usually play an independent role in a robot system. The cooperation between two or more functional behavior modules is loose relatively. As the navigation system becomes more complicated, the codes for various functional behaviors may become immense and redundant. In this paper, we propose a multiagent with event driven obstacle avoidance system (MEDOAS) for mobile robot navigation. The MEDOAS decomposes a behavior module, such as obstacle avoidance, into several primitive processing agents. The agent cooperates with others by communicating through a shared information memory. A central controller switches the agent activity by event driving rules. Based on MEDOAS more behavior modules can be achieved by adding new primitive agent to cooperate with the existing agents. Experimental results demonstrate the MEDOAS system capable of navigating a mobile robot through the cluttered environment efficiently.