Abstract:
In this work we developed a robust control system for autonomous mobile robots
capable of operating and adapting in various environments and conditions. In order to
accomplish this objective an hybrid control architecture (COHBRA) was proposed,
integrating the two main techniques of robotic control: deliberative control and reactive
control. This control architecture uses a three layers approach to integrate a vital layer
(reactive control), a functional layer (sequencer) and a deliberative layer (deliberative
control). The communication between the three layers uses a shared memory approach,
inspired in the Blackboard approach. The control architecture has a structure of multiple
internal representations of the environment: polygonal representation, matricial
representation and topological/semantic representation.
The control system has the ability to navigate in a dynamic environment,
avoiding static obstacles and unexpected mobile obstacles. The deliberative layer uses
the A* algorithm to calcu