Abstract: Through the study of behavior-based robot control technology, a practical design scheme of an autonomous mobile robot arbitration system based on 8259A interrupt controller is proposed, and its specific implementation technology is described; the experiment proves the effectiveness and real-time performance of this method. Keywords: mobile robot behavior control arbitration system 0 Introduction The so-called behavior-based control structure decomposes complex tasks into many simple units that can be executed concurrently. Each unit has its own sensor and actuator. The two are tightly coupled together to form a perception action behavior, and multiple behaviors are loosely coupled to form a hierarchical model [1]. The robot's final operation is made by the controller based on the priority of the behavior and its own task. The main advantage of this method is that the function of each behavior is relatively simple. Therefore, a better running effect can be obtained through simple sensors and its fast information processing. In the behavior-based mobile robot control method, the basic behavior consists of two parts: the control system and the trigger. The control system enables the robot to run in a specific way, while the trigger determines when the robot should perform related operations. In order to achieve multiple goals at the same time, sometimes the robot needs to perform many basic behaviors. As long as only one behavior is triggered at a certain moment, the system can run relatively smoothly. When two or more behaviors are triggered simultaneously, and each behavior requires the robot to perform a different operation, an arbitrator is needed. That is, each behavior is assigned a different priority, and when multiple behaviors are triggered simultaneously, they are responded to in descending order of priority. For details, please click: Design of a Behavior-Based Mobile Robot Arbitration System