Basic configuration for mobile robots

In this work, we suggested a new approach for the basic configuration of a mobile robot capable of being a building block of an intelligent agent. This configuration includes obstacle avoidance (OA), goal tracking (DTG) and communication implemented as competence layers. Moreover, a geometry based behavior arbitration layer is proposed for fusing those behaviors. Proposed control is tested on simulations where different scenarios are studied. Results have confirmed the high performance of the method.