Abstract：The multiple mobile robots system is a new study and application field following the development of robotic technology. So there are many new requests to the control system architecture of mobile robot. In this paper, these new requests are analyzed. And a hybrid layered architecture is gave after compare two typical intelligent robot architecture.
1 Uny Y Cao,Alex S.Fukunaga,Andrew B.Kahng and Frank Meng.Cooperative Mobile Robotics:Antecedents and Di-rection s",in Proc.IR OS '95 2 王越超,谈大龙.协作机器人学的研究现状与发展.机器人,1998,20(1): 3 蒋新松.机器人学导论.辽宁科技出版社 4 Brooks R A.From earwigs to humans.Robotics and Autonomous System,1997,20:291-304 5 Brooks R A.A Robust Layered Control System For A Mobile Robo.IEEE Journal of Robotics and Automation,1986,RA-2(1) 6 Parker L E.A L LIANCE:An Architecture for Fault Tolerant Multirobot Cooperation.IEEE Transaction on Robotics and Automation,1998,14(2):220-240 7 AlamiR,Fleury S,Herrb M,Ingrand F,Robert F.Multi-robot Cooperation in the MART HA project.IEEE Robotics & Automation Magazine,March 1998 8 Brooks T L.Supervisory Control of Multiple Vehicles.SPIE,1988,1007,Mobile Robots Ⅲ