It is discussed with the design and implementation of an architecture for a mobile robot tonavigate in dynamic and unknown indoor environments. The architecture is based on the frameworkof Open Robot Control Software at KTH (OROCOS@KTH), which is also discussed and evaluated tonavigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which em-ploys 2D feature of a door and extracts key points of pathway from the raw data of a laser scanner. Asa hybrid architecture, it is decomposed into several basic components which can be classified as eitherdeliberative or reactive. Each component can concurrently execute and communicate with another. Itis expansible and transferable and its components are reusable.
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