Title:
A Hybrid Control Approach to Action Coordination for Mobile Robots
A Hybrid Control Approach to Action Coordination for Mobile Robots
Author(s)
Egerstedt, Magnus B.
Hu, Xiaoming
Hu, Xiaoming
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
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.
Sponsor
Date Issued
2002-01
Extent
Resource Type
Text
Resource Subtype
Article