Hybrid and Multi-controller Architecture for Autonomous System - Application to the Navigation of a Mobile Robot

Amani Azzabi, Marwa Regaieg, Lounis Adouane, Othman Nasri

Abstract

This paper deals with the problem of unicycle mobile robot navigation in cluttered environments. It presents in particular an approach which permits to verify the stability of the control architecture of mobile robot using the reachability analysis. To perform this analysis, we consider the robot as a hybrid dynamic system. The latter is modeled by an hybrid automata in order to verify the reachability property by using the interval analysis. The simulation results validate the proposed control architecture.

References

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Paper Citation


in Harvard Style

Azzabi A., Regaieg M., Adouane L. and Nasri O. (2014). Hybrid and Multi-controller Architecture for Autonomous System - Application to the Navigation of a Mobile Robot . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 491-497. DOI: 10.5220/0005065404910497


in Bibtex Style

@conference{icinco14,
author={Amani Azzabi and Marwa Regaieg and Lounis Adouane and Othman Nasri},
title={Hybrid and Multi-controller Architecture for Autonomous System - Application to the Navigation of a Mobile Robot},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={491-497},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005065404910497},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Hybrid and Multi-controller Architecture for Autonomous System - Application to the Navigation of a Mobile Robot
SN - 978-989-758-040-6
AU - Azzabi A.
AU - Regaieg M.
AU - Adouane L.
AU - Nasri O.
PY - 2014
SP - 491
EP - 497
DO - 10.5220/0005065404910497