A navigation control strategy with hybrid architecture for rescue robot

摘要

Control architecture is an important investigative content in mobile robots. The traditional model is poorly adaptable to real environment, furthermore, has a complex process in dealing with the direct planning and obstacle avoidance behavior, so a new hybrid architecture is introduced. A navigation control strategy for rescue robot is designed by the tight integration of reflecting behavior, reactive behavior and deliberative module. At the same time, we have given a new reactive obstacle avoidance method and a new planning method based on sensors. They are combined with the advanced deliberative module and successfully resolve the problem of local energy trap. The validity of these strategies is validated by the experiments on the robot CUMT-II designed by us.