Reactive and preplanned control in a mobile robot

An architecture for robot navigation that combines reactive and preplanned control and has been demonstrated on an actual robot is presented. The system shares features of reactive control with other systems, but it is unique in its integration of planning with reactive control. It is believed that the organization could be effective for nonmobile robots as well. The result of this novel organization is robust, flexible, autonomous, real-time robot control; this organization has been demonstrated on a mobile robot that explores the peopled hallways of a large office building