Hybrid Control Architecture for Mobile Robots Navigation in Partially Known Environments

Madjid Hank, Moussa Haddad

2014

Abstract

In this paper, we are interested on the development of hybrid control architecture for autonomous mobile robots navigation. The proposed approach consists of an architecture adapted for partially known environments. It includes both reactive navigation methods based on the principle of Sense & Act and deliberative methods based on the principle of Sense-Plan & Act. The used reactive navigation method is a behavioural approach for navigation in unknown environments. Whereas deliberative approach is based on a polynomial method called Random-Profile-Approach (RPA) for optimal trajectory planning in known environments. Controllers used for both trajectories tracking and reactive navigation are fuzzy inference systems. Simulation and experimental results to validate the proposed navigation strategy are presented.

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Paper Citation


in Harvard Style

Hank M. and Haddad M. (2014). Hybrid Control Architecture for Mobile Robots Navigation in Partially Known Environments . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 513-521. DOI: 10.5220/0005067305130521


in Bibtex Style

@conference{icinco14,
author={Madjid Hank and Moussa Haddad},
title={Hybrid Control Architecture for Mobile Robots Navigation in Partially Known Environments},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={513-521},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005067305130521},
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 Control Architecture for Mobile Robots Navigation in Partially Known Environments
SN - 978-989-758-040-6
AU - Hank M.
AU - Haddad M.
PY - 2014
SP - 513
EP - 521
DO - 10.5220/0005067305130521