Abstract: This paper presents a simple and practical method to optimize the performance of the MAS-based autonomous mobile robot under urgency.This method implements hybrid architecture by modifying the traditional MAS-based architecture,since the traditional one has large navigation latency when urgent events occur.In the modified system,a set of urgent events and states are defined,the discrete event state model is amended,and a whole mechanism with an agent,called sequencer,is introduced.Experiments show that the method shortens the navigation latency and improves the system intelligence and safety.