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Hybrid Control Architecture of Mobile Robot Based on Subsumption Architecture

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3 Author(s)
Yan Yongjie ; College of Automation, Harbin Engineering University, Harbin 15001, China. yanyongjie41116@163.com ; Zhu Qidan ; Cai Chengtao

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

Published in:

2006 International Conference on Mechatronics and Automation

Date of Conference:

25-28 June 2006