An Architecture for Adaptive Navigational Control

This paper describes a new type of control architecture that adaptively navigates a simulated mobile robot. A robust control system requires multiple strategies for formulating actions so that if one fails then another can be used. A consequence of the design of this architecture is a redundancy of c40ntrol strategies. It is this redundancy that facilitates a unique mechanism for achieving robust control through the adaptive utilisation of the various strategies in response to the environment. The mechanisms for adapting behaviour are described and their effects illustrated by robot simulations.