| Title |
Hybrid System Modeling and Control for Path Planning and Autonomous Navigation of Wheeled Mobile Robots |
| Authors |
임미섭(Im, Mi-Seop) ; 임준홍(Im, Jun-Hong) |
| Keywords |
hybrid model ; hybrid control system ; path planning ; nonholonomic constraints ; mobile robot |
| Abstract |
In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies. |