Abstract: According to the reconfiguration and multi-effector characteristics of mobile robot, an open control system based on reliable PC104 and innovative driving & control networks for DC motors is developed. Broadcasting or spot-to-spot communication for data and commands, as well as the on-line conversion of the motor motion mode, can be realized easily via RS232/485 networks. A hierarchical parallel competitive control architecture based on event is practical for obstacle avoidance and navigation of mobile robots in unknown evironments. Experiments show that this control system is open and reliable. It is also adaptive to multi-mission-orientated navigation.