王于, 林良明, 颜国正. 基于包容结构的移动机器人混合式控制结构[J]. 机器人, 2002, 24(2): 171-176..
WANG Yu, LIN Liang-ming, YAN Guo-zheng . HYBRID ARCHITECTURE OF ROBOT BASED ON SUBSUMPTION ARCHITECTURE. ROBOT, 2002, 24(2): 171-176..
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.
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