Reactive layer control architecture for autonomous mobile robots

In this paper, a real-time reactive mechanism in the hybrid deliberate/reactive control architecture was proposed. The real-time reactive layer consists of resources, behaviors, an action coordinator, and a controller. Each resource offers an independent sensor information. To improve real-time characteristics, individual behaviors and the action coordinator were designed to fulfill the realtimeness in executing each component in RTAI (Real-Time Application Interface for Linux). The effectiveness and the real-time characteristics of the proposed reactive mechanism were verified by computer simulations of preplanned scenarios.