Hybrid architecture of mobile robot based on subsumption architecture
Yan Yongjie · Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University · 2006
Control architecture is an important investigative content in mobile robots.After studying the subsumption architecture,a new hybrid architecture is introduced,which is based on the subsumption architecture and integrates the behaviour planning and behaviour output.The process of behaviour planning uses the concept of attention to coordinate the behaviours.It decides the control layer through the degree of attention which can hold the intention of sub-behaviour perfectly.The simulation uses 6 layers of control architecture including wander,avoiding obstacle,behaviour planning,etc.The results show this architecture is simple and effective in some different situations.