| Title |
Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method |
| Authors |
이용미(Lee, Yong-Mi) ; 임미섭(Im, Mi-Seop) ; 임준홍(Im, Jun-Hong) |
| Keywords |
mobile robot ; autonomous maneuvering ; obstacle avoidance ; hybrid system |
| Abstract |
This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments |