하이브리드 시스템의 기준동작 구성과 생성에 의한 차륜형 이동로봇의 자율 벽면-주행 알고리즘

Abstract

In this paper, we propose a new aproach to the autonomous wall-following of wheeled mobile robot using hybrid system reference motion synthesis and generation. The hybrid system approach is introduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments.