A hybrid system approach to motion control of wheeled mobile robots

Abstract

Addresses the design of hybrid control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has a 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by switched systems. The abstract model and digital automata for the motion control are developed. The motion control tasks for desired-paths with edges and dynamic path following with various initial conditions are investigated as the applications by simulation studies.