차륜형 이동로봇의 자율 벽면-주행을 위한 하이브리드 제어

Autonomous Wall-Following of Wheeled Mobile Robots using Hybrid Control Approach

In this paper, we propose a new approach to autonomous wall-following of wheeled mobile robots using hybrid control system. The hybrid control approach IS introduced to the motion control of nonholonomic mobile robots in the Indoor navigation problems. In hybrid control architecture, the discrete states are defined by the user-defined constraints, and the reference motion commands are specified In the abstracted motions. The hybrid control system applied to motion planning and autonomous navigation with obstacle avoidance In indoor navigation problem. Simulation results show that it is an effective method for the autonomous navigation in indoor environments.