Design and Coordination of Reactive Behaviours for Tracking Multiple Targets in an UnstructuredEnvironment

This paper presents a behaviour based approach for a two wheeled differential drive mobile robot for tracking multiple targets in an unstructured environment. Six groups of behaviours have been designed and are incorporated in two layered control architecture. The inputs to the control system are obstacles distance from mobile robot, mobile robot current location, the selected target spatial information and obstruction information between target and mobile robot. The targets are categorized on the basis of predefined priorities. The selection among the equal priority targets is resolved by minimum Euclidean measure. Obstacle avoidance, wall following, corridor following, target steering, pivot around and dead end escape has been implemented. Moreover, the group selection mechanism, target selection mechanism and weight assignment mechanism are also implemented. The effectiveness of proposed control architecture is verified by simulations