Coherent Adaptive and Rational Action Selection Problem Solution for Mobile Robots

The article deals with the issue of controlling the autonomous mobile systems. Considered are problems focusing around the use of distributed architecture controllers. In contrary to hierarchical architecture, all layers of distributed controller are operating simultaneously, and have an access to both: the sensors (receptors), as well as to the executing systems (effectors) of controlled autonomous mobile system. Simultaneous operation of all layers of the distributed architecture controller entails arising of so called action selection problem. This problem consists in continuous taking of decisions: which one of the layers, or which layers of controller, at given moment should have an influence on the movement of controlled object. Discussed is the proposal of a new solution of this problem. Presented are results of experiments with the use of mobile robot.