The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

하이브리드 시스템 제어 방법을 이용한 이동로봇의 자율 추행 동작제어

  • 이용미 (한양대학 전자컴퓨터공학부 대학원) ;
  • 임미섭 (경기공업대학 메카트로닉스과) ;
  • 임준홍 (한양대학 전자컴퓨터공학부)
  • Published : 2002.05.01
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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

Keywords

References

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