Multiagent system with event driven control for autonomous mobile robot navigation

Abstract

A multiagent with event driven obstacle avoidance system (MEDOAS) has been developed, which is capable of avoiding stationary and moving obstacles and achieve the goal position. The multiagent design enables the mobile robot to perform sensing, steering and driving control in parallel. Event driven motion control of the system enables the robot to cope with various difficulties of the given assignment in a dynamic changing task environment. The MEDOAS is implemented by multi-thread programming on a time sharing operating system running on the main control system on our mobile robot system in the laboratory. The performance of MEDOAS is experimentally tested on the mobile robot. Experimental results demonstrate the resultant MEDOAS system capable of navigating a mobile robot through the cluttered environment efficiently.