Tailoring the behavior of a mobile robot-a recursive approach

Abstract

A generalized control structure for shaping the behavior of a mobile robot is described. The proposed structure possesses many desirable properties such as recursiveness, nestedness of the behavior bandwidth, and predefined interface of the behavior levels. It uses different system representations at the different levels of abstraction. A general formal description and the block-diagram realization of the different levels are given. The realization of several levels has been successfully validated on a mobile robot under realistic environmental conditions.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>