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Titolo:
Hybrid control approach to action coordination for mobile robots
Autore:
Egerstedt, M; Hu, XM;
Indirizzi:
Royal Inst Technol, Div Optimizat & Syst Theory, SE-10044 Stockholm, Sweden Royal Inst Technol Stockholm Sweden SE-10044 SE-10044 Stockholm, Sweden Harvard Univ, Div Engn & Appl Sci, Cambridge, MA 02138 USA Harvard Univ Cambridge MA USA 02138 n & Appl Sci, Cambridge, MA 02138 USA
Titolo Testata:
AUTOMATICA
fascicolo: 1, volume: 38, anno: 2002,
pagine: 125 - 130
SICI:
0005-1098(200201)38:1<125:HCATAC>2.0.ZU;2-Y
Fonte:
ISI
Lingua:
ENG
Keywords:
mobile robots; hybrid dynamic systems; motion control; path planning;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
15
Recensione:
Indirizzi per estratti:
Indirizzo: Hu, XM Royal Inst Technol, Div Optimizat & Syst Theory, SE-10044 Stockholm, Sweden Royal Inst Technol Stockholm Sweden SE-10044 44 Stockholm, Sweden
Citazione:
M. Egerstedt e X.M. Hu, "Hybrid control approach to action coordination for mobile robots", AUTOMATICA, 38(1), 2002, pp. 125-130

Abstract

In this paper, the problem concerning how to coordinate the contributions from concurrent controllers, when controlling mobile robots, is investigated. It is shown how a behavior based control system for autonomous robots can be modeled as a hybrid automaton, where each node corresponds to a distinct robot behavior, This type of construction gives rise to chattering executions, but it is shown how regularized automata can be used to solve this problem. As an illustration. the obstacle-negotiation problem is solved by using a combination of a robust path-following behavior and a reactive obstacle-avoidance behavior that move the robot around a given obstacle at a predefined safety distance. (C) 2001 Published by Elsevier Science Ltd.

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Documento generato il 19/01/20 alle ore 20:56:26