Abstract：In this paper, we describe a hybrid control architecture based on Subsuming Control Architecture. The planning is regarded as a behavior, and processed synchronistically with the reactive behaviors. Correspondingly, we partition the detected field into an obstacle-avoidance field and a planning field. If an obstacle has been detected in the obstacle-field avoidance, the reactive obstacle avoidance module processes it,and if an obstacle has been detected in planning field, the planning module process it. The simulations of robot path planning prove that the method can fuse the reactive behavior and the planning behavior perfectly. In addition, we have given a new reactive obstacle-avoidance method and a new planning method based on sensors. These methods are proved simple and effective.
 Brooks R A. A Robust Layered Control System for a Mobile Robot. IEEE Journal of Robotics and Automation, 1986,2.  Silva C, Crisostomo M, Ribeiro B. MONODA:A neural modular architecture for obstacle avoidance without knowledge of the environment. Neural networks, 2000. IJCNN 2000, Proceedings of the IEEE-INNS-ENNS International Ioint Conference on, 2000,6:334-339.  Johann Borentein. Real-Timer Obstacle Avoidance for Fast Mobile Robots. IEEE Transactions on Systems, Man, and Cybernetics, 1989,19(5).  Seabra Lopes L, Lau N, Reis L P. Intelligent control and decision-making demonstrated on a simple compass-guided robot. Systems, Man, and Cybernetics, 2000 IEEE International Conference on, 2000,4:2419-2424.  Kai-Tai Song, Charles C Chang. Navigation Intergration of a Mobile Robot in Dynamic Environments. Iournal of Robotic Systems, 1999,16(7):387-404.  Pai-Shih Lee, Ling-Ling Wang. Collision Avoidance by Fuzzy Logic Control for Automated Guided Vehicle Navigation. Journal of Robotic Systems, 1994,11(8):743-760