이동로봇의 지능적 동작과 자율 주행을 위한 하이브리드 시스템의 구성과 제어

Abstract

In this paper, we propose a new approach to the intelligent motion and autonomous maneuvering of wheeled mobile robots using hybrid system synthesis and control. The hybrid system is introduced to the intelligent motion control of nonholonomic mobile robots in the indoor navigation problems. In discrete state system as a high level. the discrete states are defined by the sensor-based search windows and the reference motions of a mobile robot as a low level are specified in the abstracted motions. The hybrid system synthesized for the nonholonomic mobile robots can combine the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.