하이브리드 제어에 의한 이동로봇의 자율 주행

Abstract

In this paper, we propoe a new approach to the autonomous maneuvering of wheeled mobile robots using hybrid control system. The hybrid control approach is introduced to the motion control of nonholonomic mobile robots in the indoor maneuvering problems. The discrete states are defined by the user-defined constraints and the reference motion commands are specified to the abstracted motions in discrete state system. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous maneuvering including the target directional navigation with obstacle avoidance in indoor navigation problem.