Hybrid Behavior Coordination Mechanism for Navigation of Reconnaissance Robot

摘要

In the research of reconnaissance robot to respond events involving hazardous materials, a novel hybrid behavior coordination mechanism based on priority and FSA is proposed. It uses a behavior group which combines several elementary behaviors based on priority to perform simple scout tasks. And then uses one of specified FSAs designed for each more complex task respectively as the behavior group selector. The key feature is that a hybrid behavior group coordinator can be structured dynamically once the corresponding task is required to be performed. Thus, such a behavior-based robot is capable of performing a goal-oriented task by this method. The implementation of a hybrid behavior coordinator used to perform the task of moving to goal is presented in detail. Simulations and experiments show the validity, robustness, and simplicity of the hybrid behavior mechanism