Multi-Layered Hybrid Architecture To Solve Complex Tasks Of An Autonomous Mobile Robot

In this paper, we present the implementation of an autonomous mobile robot controller developed according to the principle of a multi-layered hybrid architecture. This architecture is composed of four layers: sensori-motor, behavioral, sequencing, and strategic. The paper describes its general structure and the function of its main elements. It further analyses the development of an example task presenting the advantages of the hybrid architecture. Keywords: Mobile Robotics, Multi-layered Architecture, Behavior-Based Control 1 INTRODUCTION The ability of a mobile robot to achieve reliably tasks in a real environment depends essentially on the architecture of its controller. We use a multi-layered hybrid architecture that combines the advantages of both the behavioral and the centralized architectures. This architecture distributes distinct competence levels on several layers: the top layer is responsible for symbolic planning, the intermediate layers are behavioral-based, and, finally..