Control system design procedure of a mobile robot with various modes of locomotion

In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custom-built Lynx mobile robot with vertical and horizontal modes of locomotion.