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A Hybrid Control Approach to Action Coordination for Mobile Robots


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In this paper, the problem concerning how to coordinate the contributions from concurrent controllers, when controlling mobilerobots, is investigated.
It is shown how a behavior based control system for autonomous robots can be modeled as a hybridautomaton, 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 issolved by using a combination of a robust path-following behavior and a reactive obstacle-avoidance behavior that move the robotaround a given obstacle at a predefined safety distance.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Autor: Egerstedt, Magnus B.
- Hu, Xiaoming - -


Fuente: https://smartech.gatech.edu/





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