Research on subsumption architecture and application in dynamic programming of robot

Abstract

This paper describes ongointg investigation into the subsumption control of robots. Subsumption architecture is a relatively new and simple approach to the control of robot systems. With subsumption control, the robiot is controlled by a set of simple processes. Each of the process is designed to provided the robot with a simple competence, for example, the ability to avoid contact with obstacles, to wander aimlessly around without hitting things or to explore the robot's environment. This paper includes: 1) reviewing subsumption architecture; 2) some methods proposedl to improve the emciency of this architecture; 3) the implementation of these methods and primitive abilities, such as, wandering behavior, collision avoidance, and navigation. The enhianced architecture is more effective than the original one.