Smooth task switching through behaviour competition

Navigation in large-scale environments is composed of different local tasks. To achieve smooth switching between these tasks and thus a continuous control signal, usually a precise map of the environment and an exact pose estimate of the robot are needed. Both are hard to fulfil for experiments in real-world settings. We present a system that shows how one can relax the need for accurate metric models of the environment while at the same time achieving smooth task switching. To facilitate this scheme the dynamical systems approach is used, which incorporates behaviour coordination through competition in a dynamic framework. Feature detectors use sonar data to provide means for local navigation. This ability combined with a simple topological map constitutes a complete navigation system for large-scale office environments. Experiments showed that a Scout robot using this scheme is able to successfully navigate through our whole institute. Through the use of the dynamic behaviour coordination, switching between the navigational tasks occurs in a smooth manner leading to continuous control of the platform.