Abstract: Autonomous robots operate in the open environment,their perception of environmental information is limited,and it is difficult to obtain complete and timely information about the environment.In order to effectively complete tasks,autonomous robots need to actively observe the environment,that is,according to the requirements of tasks,to make decisions,schedule and execute observation behaviors spontaneously,and obtain task-related environmental information.The demand for active observation poses two challenges to the observation scheme of autonomous robots and the construction of software systems.On the one hand,in order to support the effective implementation of tasks,active observation schemes should be designed to ensure that autonomous robots can observe the required environmental information based on task requirements from the mechanism level.On the other hand,the active observation schemes make the function abstraction and data interaction of the software components such as observation and decision-making of autonomous robots more complicated,so it is necessary to design a software architecture sui-table for the implementation of the complex mechanism on the upper level.In order to deal with the above challenges,this paper defines the behaviors of autonomous robots as task behaviors and observation behaviors.Two kinds of active observation schemes are proposed to construct a collaborative mechanism between observation behaviors and task behaviors,aiming at the two typical scenes with limited environmental information in the open environment:one-sided observation and outdated observation scenes,and the decision and scheduling algorithms of observation behavior are designed based on these two active observation schemes.In addition,an autonomous robot software architecture based on the multi-agent system is designed to implement the proposed active observation schemes.Finally,in order to verify the effectiveness of the proposed active observation schemes,a typical task in the open environment:the book transfer task of the library service robot is selected to carry out experimental verification.In this task,the location information of the book is limited by the autonomous robot,which easily leads to the failure of the book transfer task.In this paper,the reactive observation and the accompanying observation schemes of the current mainstream in the field of autonomous robots are selected as the comparison method,and the effectiveness of the proposed method is verified by comparing the behavior execution process,motion trajectory and time consumption.

Key words: Autonomous robot, Open environment, Observation behavior, Active observation scheme, Autonomous robot software