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Development and integration of multiple behaviors for autonomous mobile robot navigation

Primitive motion executors such as "obstacle avoidance", "goal following", "wall following", "docking", and "path tracking" for mobile robot navigation are developed in this paper. They are integrated with motion planner, motion assistants, and behavior arbitrator together in a multiagent based architecture. The resultant intelligence for an autonomous mobile robot is capable of efficiently performing motion behavior and detecting an environmental event in parallel to adapt a dynamically changed environment. Experimental results on a real mobile robot show the feasible, reliable and robust of the motion executors and the overall system.