REACTiON Self-Adaptive Robot Architecture
REACTiON (Robust bEhAvior-based ConTrol for Off-road Navigation) is a modular, behavior-based robot architecture designed for reliable perception, navigation, and control of autonomous systems in complex and unstructured environments. The architecture was developed specifically for autonomous off-road vehicles. Its basic principle is to break down complex autonomous functions into individual, interconnected behavioral modules. These can be activated, inhibited, and combined depending on the situation, allowing the robotic system to adapt flexibly to changing environmental and operating conditions.
Architecture and Functionality
REACTiON is based on the concept of Integrated Behavior-Based Control (iB2C) and distinguishes between three basic module types:
- Behaviors: Perform individual control, planning, and decision-making tasks.
- Percepts: Process sensor data and evaluate the quality of the perception results.
- Fusion: Combine or select information and control outputs based on their activity or quality.
The architecture integrates these modules into a comprehensive system encompassing perception, navigation, control, and safety.
Key Components
- Perception and Environmental Awareness: Evaluation of sensor data quality, sensor fusion, obstacle detection, and environmental mapping.
- Navigator and Pilot: Global route planning and local adaptation of navigation to the current environment.
- Low-Level Control: Reactive vehicle control that takes into account obstacles, terrain characteristics, and driving dynamics.
- Fail-Safe: Monitoring of safety-critical conditions and initiation of appropriate protective measures.
- Hardware Abstraction: Uniform interfaces for different robotics platforms as well as real and simulated systems.
Application in Off-Road Robotics
The architecture was implemented on the Unimog U5023, among other platforms. Behavior-based control methods were developed that adapt vehicle functions based on terrain and operating conditions. The functions investigated include adaptive gear selection, differential lock control, and tire pressure regulation to improve traction.
Scientific Publication
Behavior-Based Control for Safe and Robust Navigation of an Unimog in Off-Road Environments
Wolf, P., Ropertz, T., Berns, K., Thul, M., Wetzel, P., & Vogt, A. (2018).