Behavior Coordination Methods on Autonomous Navigation of Physical Robot

Behavior based architecture gives robot fast and reliable action. If there are many behaviors in robot, behavior coordination is needed. Subsumption architecture and motor schema is example of behavior coordination methods. In order to study those methods characteristics,
computer simulation is not enough, experiments in physical robot are needed to be done.
It can be concluded from experiment result that the first method gives quick, robust but non smooth response. Meanwhile the latter gives smooth but slower response, and it is tend to reach target faster than the first one. Some limitation of physical robot experiment also
presented here.