Integrated control architecture based on behavior and plan for mobile robot navigation

摘要

One of the most difficult challenges in mobile robotics is real-world navigation. A real world can change suddenly and this change makes the robot relinquish planning actions in advance. In order to overcome such a change, behavior- based navigation was introduced. However, it had a difficulty in planning deliberate actions and in communicat- ing with humans. We propose a new control strategy combining both the Merits of behavior-based and planner-based approaches.