A Control Architecture for Autonomous Mobile Robotics

The field of mobile robotics is on the forefront of robotics research around the world. Control architectures for complex autonomous mobile robots have largely settled on hybrid architectures for their suitability at dealing with the opposing forces of planning and reactivity. The authors present a general, heterogeneous 3-Tier hybrid architecture for control of an autonomous mobile robot and discuss an implementation in the domain of campus navigation. The architecture features a useful organization structure for high-level skills and offers flexible construction options for low-level behavior hierarchies.