A Hybrid Robot Navigation Approach Based on Partial Planning and Emotion-Based Behavior Coordination

A hybrid navigation approach for mobile robots is presented in this paper, which integrates partial motion planning with emotion-based behavior coordination. According to the local sensing information and assigned goal, the partial motion planning determines a local target point for the mobile robot, and the trajectory composed of the local targets is near optimal in the sense of a given cost function. Behavior coordination based on emotional mechanism is proposed in the navigation control of mobile robots. The emotion system can properly reflect environment states, and then effectively synthesize rational and complex behaviors. The proposed hybrid approach is competent for the mobile robot to navigate autonomously and effectively in unknown environments. Simulation results demonstrate that the robot motion trajectory using the proposed hybrid navigation approach is more reasonable than the one using a pure behavior-based control or emotion-based behavior coordination alone