Résumé
Robotic software is now one of essential part of robotic system development, therefore software control architecture design methods and concepts, often inspired by engineering software field, are necessary within a robotic project to enhance evolution, modularity and re-usability, and to avoid redesign costs [1]. Control software architecture design approaches are usually classified into three main categories: Reactive architectures are built by gathering several modules called behaviors. Each behavior reacts continuously to the situation sensed by the perception system [4]. Actuators control values are obtained from a weighted summation of all commands generated by these modules. The complexity of this method lies in weights adjustment allowing a good reaction and keeping global objective [5][8]. Deliberative architectures are built in several levels, usually three. Decisions are taken in the higher level; the intermediate level is in charge of controlling and supervising. The low level deals with all periodical treatment related to the instrumentation, such actuator control or measuring instrument management [3]. Hybrid architectures are a mixed of two previous ones. Usually these are structured in three layers: the deliberative layer, based on planning, the control execution layer and a functional reactive layer [6][7][9][11].