A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment

Citation

Nakhaeinia, Danial and Payeur, Pierre and Tang, Sai Hong and Karasfi, Babak (2015) A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment. In: 2015 IEEE International Conference on Automation Science and Engineering (CASE), 24-28 Aug. 2015, Gothenburg, Sweden. (pp. 1274-1281).

Abstract

This paper introduces a new hybrid control architecture for solving the navigation problem of mobile robot in an unknown dynamic environment based on an actual-virtual target switching strategy. This hybrid architecture is a combination of deliberative and reactive architectures which consists of three layers: modeling, planning and reaction. The deliberative architecture produces collision-free with shortest-distance path, while using the reactive architecture generates safe and time minimal navigation path. The proposed approach differs from previous ones in its integration architecture, the control techniques implemented in each module, and interfaces between the deliberative and reactive components. Validity and feasibility of the proposed approach are verified through simulation and real robot experiments.

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Additional Metadata

Item Type:	Conference or Workshop Item (Paper)
Divisions:	Faculty of Engineering
DOI Number:	https://doi.org/10.1109/CoASE.2015.7294274
Publisher:	IEEE
Keywords:	Hybrid control architecture; Navigation; Mobile robot
Depositing User:	Nabilah Mustapa
Date Deposited:	08 Jul 2019 02:44
Last Modified:	08 Jul 2019 02:44
Altmetrics:	http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1109/CoASE.2015.7294274
URI:	http://psasir.upm.edu.my/id/eprint/69671
Statistic Details:	View Download Statistic

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