Reaktive Steuerung autonomer mobiler Roboter

This work describes a behavior-based control architecture for an autonomous mobile robot. The presented approach defines multiple interfaces between the behavior-assembling-mechanism and the individual behaviors. The- reby development of a control-program is simplified and the cooperation between multiple behaviors is made possible. Beside the reactive layer, which is needed to drive the robot's actuators, a tactical layer is described. The tactical layer is based on a minimal interface between the individual behaviors, so that a network of dynamical systems arises. This network is able to generate sequences of behaviors or to suppress specific behaviors while others are active. The study of results from a robot simulator shows the efficiency of the presented approach