Hybrid Control Architecture of Mobile Robot Based on Subsumption Architecture

摘要

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