Simulation experiments for a mobile robot control architecture

摘要

This paper presents the simulation results for MARCO, a control architecture for an autonomous mobile robot navigation. MARCO is a two layer architecture consisting a low level control layer and a higher level task sequencing layer. The low level control layer is based on fuzzy behaviours, which can easily utilise human control knowledge and heuristics and also accommodate sensor noise, uncertainty and imprecision. The sequencing layer organises temporal sequences of controlling activities in the low level layer. A simulated robotic system has been developed for the research of MARCO control architecture and possible applications. The design of the system is based on the configuration of a real experiment robot. The paper reports mainly two of the simulated navigation tasks performed by MARCO, its effectiveness and future research problems.