Design and Implementation of a Real Time Obstacle Avoiding Subsumption Controlled Reactive Robot

in Reactive robotic system, behaviors serves as the basic building block for robotic actions. A reactive control system tightly couples perception to action without the use of intervening abstract representations or time history. A simple wheeled vehicle is easy in mechanical design, controlling, and the construction part. But it doesn't work efficiently in all kind of surface. On a rough terrain, it performs poorly. The radius of a wheel could pass only a certain height of obstacle. To pass most of the obstacle that it meets, larger wheel radius need to be designed. In this paper the design & implementation of Subsumption based architecture, a reactive control system for real time obstacle avoidance which is compatible with low cost ultrasonic sensor, infrared sensors and fast enough to be implemented using microcontroller based development board is introduced with a legged robot.