A Hybrid Control Approach to Action Coordination for Mobile Robots
Egerstedt, Magnus B.
MetadataShow full item record
In this paper, the problem of how to integrate different robotic actions, within a behavior-based framework, is investigated. The case we study is the obstacle negotiation problem, and our approach is based on planned on reference trajectories. These trajectories are chosen in such a way that the combination of a robust path-following behavior, designed in a model independent way, and a reactive obstacle-avoidance behavior would move the robot around an obstacle at a predefined safety distance. This is done while keeping the value of a cost functional low, defined for evaluating the performance of the robot. We exemplify and evaluate this approach on a Nomad 200 mobile robot platform.