하이브리드 시스템을 이용한 이동로봇의 지능적 동작과 자율주행

Abstract

In this paper, we propose a new approach to intelligent motion and atutonomous maneuvering of mobile robots using hybird system. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a 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. Simulatioin and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.