| 摘要 |
A mobile robot comprises a means for moving the robot over a surface, an obstacle detection sensor, and a control system operatively connected to said obstacle detection sensor and said means for moving. The control system has an obstacle following mode, whereby said robot travels adjacent to a detected obstacle, and a bounce mode, whereby the robot travels substantially in a direction away from the obstacle. Moreover, the control system is configured to operate the robot in a plurality of behaviours including at least a coverage behaviour and one or more escape behaviours, the control system switching to operate in a said escape behaviour in response to one or more sensors sensing a need for an escape situation; and wherein said control system uses an arbiter to select which behaviour is given control over the robot. |
