An architecture for outdoor mobile robot navigation with self-organization

Based on the observation on human being´s driving behavior, this paper proposed a multi-agent based architecture for outdoor mobile robot navigation with self-organization. As the environment keeps dynamically changing, the robot should generate different actions suitable to the changing environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the proposed control architecture can be dynamically reorganized according to the dynamical changes in the environment.