INDIVIDUAL CONTROL ARCHITECTURE FORMULTIPLE MOBILE ROBOT SYSTEM

The paper proposes a layered architecture for individual robot in multiple mobile robot system. The architecture is composed of three layers: system-monitoring, cooperation-planning, and behavior-control layers. System-monitoring layer is to provide operators the real-time way to monitor the system; cooperation-planning layer is used to establish the layered organization, reasonably and rapidly decompose and allocate the task, thus achieve the task-level cooperation during the interaction with the counterpart of other robots; behavior-control layer mainly adopts the behavior-based approach to implement the motion control. The architecture meets the needs of more and more complex applications and increasing system scales.