A Differential-Drive Mobile Robot Driven by an Ethology Inspired Behaviour Architecture

This paper presents the work in progress of an ethology inspired action selection mechanism to control a differentialdrive mobile robot with potential applications in the fields of security, defense, reconnaissance, and others. The mathematical model of a two wheel differential-drive model is presented. The model shows how zero turning radius is achieved with only bidirectional movement. The mobile robot is driven by behaviour patterns of the behavioural architecture that are used to map the incoming stimuli from ultrasound sensors into responses that affect the voltage's intensity of each wheel's motor. Therefore, it controls the translational and rotational movements of the mobile robot described herewith.