Behaviour-based Architecture for Piloting Mobile Manipulator Robots

In this article, we present a generic hierarchical behaviour-based model architecture for piloting mobile manipulator robots. The proposed model architecture is based on three level hierarchical behaviours. Two behaviours are high- level, two others are of intermediate-level and finally one behaviour is low-level. The first two behaviours constitute the supervisor agent, which manages the global system. The last three constitute the mobile robot agent and the manipulator robot agent. They respectively control the mobile base and the manipulator arm. We also propose an implementation methodology to adapt this architecture to the RobuTER robot architecture.