Hybrid and multi-controller architecture for autonomous system application to the navigation of a mobile robot

Author

Azzabi, Amani ; Regaieg, Marwa ; Adouane, Lounis ; Nasri, Othman

Author_Institution

Res. Unit SAGE, Univ. of Sousse, Erriadh, Tunisia

Volume

2

fYear

2014

Firstpage

491

Lastpage

497

Abstract

This paper deals with the problem of unicycle mobile robot navigation in cluttered environments. It presents in particular an approach which permits to verify the stability of the control architecture of mobile robot using the reachability analysis. To perform this analysis, we consider the robot as a hybrid dynamic system. The latter is modeled by an hybrid automata in order to verify the reachability property by using the interval analysis. The simulation results validate the proposed control architecture.

Keywords

automata theory; mobile robots; path planning; reachability analysis; stability; autonomous system; cluttered environments; hybrid architecture; hybrid automata; hybrid dynamic system; interval analysis; multicontroller architecture; reachability analysis; reachability property; stability; unicycle mobile robot navigation; Automata; Collision avoidance; Mobile robots; Navigation; Robot kinematics; Stability analysis; Control Architecture; Hybrid Automata; Hybrid Dynamic System; Interval Analysis; Mobile Robotics; Stability and Reachability Analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on

Type

conf

Filename

7049640