Robot Programming - Subsumption Architecture

[Jawahar]

I am interested in implementing Subsumption (Brooks) Architecture for my robot program. I did a Google search and got this link:

http://www.fh-augsburg.de/~hhoegl/rt/68332/robots.txt

But it isnt that clear to me. Can you throw some light on that code architecture?

[RMDumse]

Ah ha. This article by Dr. "Skip" Carter appeared as the feature article for Dr. Dobbs Magazine in Feb 1997.

Indeed, understanding Dr. Brooks subsumption is difficult given what he has written. I finally understood what subsumption was about when I read "Robot Programming; A Practical Guide to Behavior Based Robotics"

You can read about it and actually play with a simulation at http://www.behaviorbasedprogramming.com/

Basically subsumption involves programming a number of behaviors in parallel, all with outputs (or lack thereof) appropriate to what the particular behavior is sensing. The highest priority behavior that makes an output actually controls the machine.

I'll give you an example from my Mini-Sumo, Mike-3. Normally, Mike-3 will be searching for something to attack. But. If it sees a line under its line sensors, it knows it's at an edge, and must back up or fall off.

So the back up behavior takes over the wheels and backs for a fixed time and clear of the edge line. Then it stops its output and lets the normal searching or fighting behaviors steer the robot.

Hope that helps.

[Jawahar]

Thats a cool site! I think that'll get me going.

Thanks.

[Jawahar]

RM Dumse:

Got it crankin! After I went through "Robot Programming; A Practical Guide to Behavior Based Robotics" as you had suggested, I got one behavior based program working on my IsoPod controlled robot.

Actually, it was Dr Huff who gave me the book long ago. I put it on a stack of books until you mentioned that!

Thanks.