Panus Nattharith
Mobile robot architectures, action-selection mechanism, motorschema, subsumption architecture
This work describes the navigation control system for autonomous mobile robot. In the proposed work, a behaviour-based system utilizing a motor schema method has been developed. One of the problems observed with the behaviour-based system is the difficulty in selecting an appropriate behaviour to complete a task. Therefore, the action-selection mechanism has also been studied in this work. It comprises two main groups which are the arbitration and the fusion mechanisms. The subsumption architecture is an example of behaviour arbitration while the motor schema employs the fusion technique. Experimental comparisons between these two methods have been conducted and the results reveal that the proposed method can effectively navigate the robot to complete its tasks in a robust, speedy, and smooth manner.
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