Hybrid control approach to action coordination for mobile robots

被引：80

作者：

Egerstedt, M

Hu, XM ^{[1
]}

机构：

[1] Royal Inst Technol, Div Optimizat & Syst Theory, SE-10044 Stockholm, Sweden

[2] Harvard Univ, Div Engn & Appl Sci, Cambridge, MA 02138 USA

来源：

AUTOMATICA | 2002年 / 38卷 / 01期

关键词：

mobile robots; hybrid dynamic systems; motion control; path planning;

D O I：

10.1016/S0005-1098(01)00185-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2001 Published by Elsevier Science Ltd.

引用

页码：125 / 130

页数：6

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