A HYBRID CONTROLLER FOR A NONHOLONOMIC CAR-LIKE ROBOT

Martin v. Mohrenschildt

Abstract

This paper presents the usage of hybrid systems to develop an adaptive recent horizon controller for a nonholonomic car-like robot. The system is modeled by a non-deterministic hybrid system in which transitions represent the discrete control actions, mode invariants the constraints and the transition relation encodes sequencing requirements. The control algorithm examines at runtime the possible traces into the future by determining at which time point to switch to which mode. Based on these predictions the next control move is performed. We demonstrate our approach by controlling a car-like robot though a maze without any pre-runtime path planing.

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Paper Citation


in Harvard Style

v. Mohrenschildt M. (2005). A HYBRID CONTROLLER FOR A NONHOLONOMIC CAR-LIKE ROBOT . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 972-8865-31-7, pages 282-288. DOI: 10.5220/0001175802820288


in Bibtex Style

@conference{icinco05,
author={Martin v. Mohrenschildt},
title={A HYBRID CONTROLLER FOR A NONHOLONOMIC CAR-LIKE ROBOT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2005},
pages={282-288},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001175802820288},
isbn={972-8865-31-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - A HYBRID CONTROLLER FOR A NONHOLONOMIC CAR-LIKE ROBOT
SN - 972-8865-31-7
AU - v. Mohrenschildt M.
PY - 2005
SP - 282
EP - 288
DO - 10.5220/0001175802820288