A hybrid system design of a mobile manipulator

In this paper, a novel design and implementation of a hybrid system of the multi-agent is proposed. First of all, a hybrid system is established to characterize different behaviours of an agent. From the well designed feedback linearization control law, the autonomous agent which is composed by wheeled mobile manipulator (WMM) switches well-depicted behaviours such as obstacle avoid, target approach, cruise, grasp etc. from the feedback signals. Next, a two-level control architecture is devised for the WMM system, where the first level mainly handles sensor feedback subject to sensor fusion, whereas the second level is responsible for providing a well performed supervisory control that can manipulate all available surrounding resources to successfully accomplish the aforementioned mission. An actual WMM is developed, named The Treasure Hunter (TTH), which is able to hunt treasures in an unknown environment whereby the effectiveness of the proposed approach is satisfactorily demonstrated