| With the development of applied range, the work condition faced by robot is more complex, which always is unknown, dynamic and unstructured. So the control of robot to fulfill a mission in real time under this environment has a new challenge. Under the support of "Research on Robot behavior control based vision perception" from Shenyang Institute of Automation (SIA) of the Chinese Academy of Science (CAS) (No. RL2002002), this paper has a whole systemic research on the behavior control of mobile robot, and provides a robot behavior control system based vision and ultrasonic information. The ma-in work and innovative ideas include:Through exploring the behavior-based control technology, a behavior-based control system has been designed for mobile robot fulfilling multiple objective missions. In the designed mobile robot navigation system, behavior-based control is applied in the fuzzy control theory, the robot's multiple objective are realized in the fuzzy decision and propriety-based decision. And robot can accomplish the objective-oriented work.The structure of RIRA-Mobile robot is introduced. Furthermore, the driving model and power model are analyzed.The perception system of RIRA-Mobile robot is demonstrated particularly, which includes two models of vision and ultrasonic sensor. RIRA-Mobile robot uses two types ultrasonic sensors so as to detect the general obstacles' information. In addition, Sony EVI-D31 PTZ camera is also used, which can de controlled by computer serials that the vision function of robot is extended greatly to get more environment information.In the end several simulations and experiments are carried out. The results are illuminated. The design of fuzzy controller uses MATLAB. The control system is simulated in the MOBOTSIM. Then the control strategy is applied to the RIRA- Mobile robot. Lots of experiments show that the proposed method is a simple effective approach for mobile robot searching a goal in the unknown environments.
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