PRIAMOS: An experimental platform for reflexive navigation

In this paper the new mobile robot system PRIAMOS is presented. The system emphasizes on fast navigation algorithms. In a (partially) unknown or changing environment fast perception and reaction is necessary for efficient task execution. Low level mapping and planning modules are used to span the period until higher control layers have enough time to react. The first part of this paper briefly describes the mechanical and technical construction of PRIAMOS. After an explanation of the software architecture the solutions for motion control and reflexive navigation, as realized in PRIAMOS, are given.