
Chapter
2
Architecture
The control system we have developed for our robot is modelled
after the behavioral network of the snail as presented in
Chapter 1. Here we first specify the exact function of each of
the basic components of our system and show how they evolved
from an early version of Brooks' subsumption architecture
[Brooks 86]. Next, we present the multi-processor hardware
used to implement the control system onboard our robot.
Finally, we compare this new architecture to similar systems
which have been used to control mobile robots.
2.1 What we use
A typical example of the architecture is shown in figure 2-1. It
consists of a numbe ...