An Adaptive Multi-Controller Architecture for Mobile Robot Navigatior

被引：2

作者：

Adouane, Lounis ^{[1
]}

机构：

[1] CNRS, UMR 6602, UBP, LASMEA, F-75700 Paris, France

来源：

IAS-10: INTELLIGENT AUTONOMOUS SYSTEMS 10 | 2008年

关键词：

Mobile robot navigation; Hybrid architecture of control; Adaptive systems; Lyapunov controller synthesis;

D O I：

10.3233/978-1-58603-887-8-342

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a hybrid control architecture dedicated to the navigation of autonomous mobile robots in presence of obstacles. The proposed control structure is flexible, adaptive and takes into account the different possible interactions between the multitude of controllers composing the architecture of control. This is enabled by the use of stable elementary controllers and to specific mechanisms of coordination and adaptation which guaranties the stability of the overall architecture.

引用

收藏

页码：342 / 347

页数：6

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