A Teleo-Reactive Architecture for Fast, Reactive and Robust Control of Mobile Robots

摘要

One of the elementary tasks of an autonomous mobile robot is the execution of different behavior patterns in order to fulfill a given task. The complexity of this problem is especially high if the robot operates in a dynamic, unpredictable environment and requires the parallel control of multiple actuators. In this paper we present a novel architecture for robust and fast mobile robot control. The architecture is based on Teleo-Reactive Programs. We discuss the benefits and drawbacks of such programs, extend the basic definition for the parallel control of multiple actuators, and propose a new language and a compiler for extended Teleo-Reactive Programs. These tools simplify the creation of new behavior patterns and increase the runtime performance. Finally, we discuss implementation issues of the architecture when applying it to RoboCup Middle-Size soccer robots.