A Navigation Control Strategy with Hybrid Architecture for Mobile Robots

摘要

The real-time navigation problem of mobile robot in unknown environment is studied.A navigation control strategy for mobile robot is designed by the tight integration of reflecting behavior,reactive behavior and deliberative module based on distributed system.Based on information from laser radar sensor,a real-time obstacle avoidance algorithm and the strategy of breaking away from dead state are also designed.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 mobile robot IMR01 designed by us.