Using Sun’s Java Real-Time System to Manage Behavior-Based Mobile Robot Controllers

Table 2

Behavior periods for each experiment set.

	Behavior periods (ms)
Set	WAYPOINT	LASERAVOID	OCCUPANCY	DIJKSTRA
	PLANNER (W)	OBSTACLES (L)	GRIDMAP (Oc)	PLANNER (P)
1	10	10	10	10
2	100	10	100	100
3	50	50	50	50
4	100	50	100	100
5	100	100	100	100