Intelligent navigation and control system for a mobile robot based on different programming paradigms

The problem of robot navigation and control is a complex task. Its complexity and characteristics depends on the characteristics of the environment robot inhabits, robot construction (mechanical abilities to move, sense) and the job the robot is supposed to do. In this paper we propose a hybrid programming approach to mobile robot navigation and control in an indoor environment. In our approach we used declarative, procedural, and object oriented programming paradigms and we utilized some advantages of our distributed computing architecture. The programming languages corresponding to the paradigms we used were C, C++ and Prolog. In the paper we present some details of our mobile robot hardware and software structure, focusing on the software design and implementation.