A behaviour synthesis architecture for mobile robot control

Abstract

Research is currently being undertaken at the University of Salford into the use of co-operant mobile automata for advanced manufacturing and material handling applications. A novel sensor driven control architecture, the behaviour synthesis architecture, has been developed which meets the requirements. This paper details this architecture and compares it with other sensor driven control methodologies. The implementation of the behaviour synthesis architecture on Fred, one of the University of Salford's mobile robots, is also described. Finally, the results of the experimental work are discussed and the direction of future research is outlined. >