Hybrid control approach to action coordination for mobile robots
2002 (English)In: Automatica, ISSN 0005-1098, Vol. 38, no 1, 125-130 p.Article in journal (Refereed) Published
In this paper, the problem concerning how to coordinate the contributions from concurrent controllers, when controlling mobile robots, is investigated. It is shown how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior, This type of construction gives rise to chattering executions, but it is shown how regularized automata can be used to solve this problem. As an illustration. the obstacle-negotiation problem is solved by using a combination of a robust path-following behavior and a reactive obstacle-avoidance behavior that move the robot around a given obstacle at a predefined safety distance.
Place, publisher, year, edition, pages
2002. Vol. 38, no 1, 125-130 p.
mobile robots, hybrid dynamic systems, motion control, path planning
IdentifiersURN: urn:nbn:se:kth:diva-21150ISI: 000172541600011OAI: oai:DiVA.org:kth-21150DiVA: diva2:339847
QC 201005252010-08-102010-08-10Bibliographically approved