Hybrid Motion Control by Integrating Deliberative and Reactive Strategies

This paper first discusses two strategies for controlling robot motions: planning under pre-described models, and reactive local control by evaluating sensor information. A hybrid control concept is then introduced to integrate both the deliberative and the reactive strategies so that a priori knowledge can be efficiently utilised and on-line sensor data integrated. Based on subgoals for guiding global motion directions, this concept can be decomposed into three components: subgoal planning, subgoal interpolation and subgoal-guided plan execution. Means of realising these components are briefly described. Simulation with examples for both manipulators and mobile robots demonstrates the feasibility of this concept. I. Introduction This work aims at combining advantages of both deliberative and reactive strategies to realise the tasklevel programming of robot motions. Since the end of the 1970's, computer scientists, control engineers and mathematicians have begun to investigate the pro..