Brief A hybrid control approach to action coordination for mobile robots

Authors:
Magnus Egerstedt;Xiaoming Hu
Affiliations:
Division of Engineering and Applied Science, Harvard University, Cambridge, MA 02138, USA;Division of Optimization and Systems Theory, Royal Institute of Technology, SE-100 44 Stockholm, Sweden
Venue:
Automatica (Journal of IFAC)
Year:
2002

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Abstract

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.