Design and implementation map building of behavior-based architecture using active object computing model

Behavior-based control present a different approach in designing control system of robot. In this paper will be implemented behavior-based control system into an autonomous robot using Active Object Computing Model technique. With this technique will be demonstrated coordination between behavior in parallel and switching behavior. Map building behavior is a behavior of robot to transform the reading of distance sensor to image of environment. In testing, it was shown the coordination of behavior in parallel was successfully demonstrated by map building behavior and wall following behavior. Map building behavior also successfully represents the reading of distance sensor into a map the environment in the form of images.