A Rule-Driven Autonomous Robotic System Operating in a Time-Varying Environment

Abstract. In this paper, the problem concerning how to coordinate concurrent behaviors, when controlling autonomous mobile robots (AMRs), is investi-gated. We adopt a FSM (finite state machine)-based behavior selection method to solve this problem. It is shown how a hybrid system for an AMR can be modeled as an automaton, where each node corresponds to a distinct robot state. Through transitions between states, robot can coordinate multiple behaviors easily and rapidly under dynamic environment. As an illustration, a soccer task was finished by an AMR system with this method. The robot performed well in the soccer games and won the game in the end.