Real time behavior-based control on a mobile robot.

This paper discusses and compares some common architectures used in autonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that was implemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering. Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration was implemented using the subsumption architecture. In an unknown dynamic indoor environment, the robot achieved real-time obstacle avoidance properties that are cruel for mobile robotics. [ABSTRACT FROM AUTHOR]