Authors:
Amani Azzabi
1
;
Marwa Regaieg
1
;
Lounis Adouane
2
and
Othman Nasri
1
Affiliations:
1
University of Sousse, Tunisia
;
2
Blaise Pascal University - UMR CNRS, France
Keyword(s):
Control architecture, Mobile robotics, Stability and Reachability analysis, Hybrid dynamic system, Hybrid automata, Interval analysis.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Components for Control
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.