Hybrid and Multi-controller Architecture for Autonomous System: Application to the navigation of a mobile robot

Amani Azzabi , Marwa Regaieg , Lounis Adouane (1) , Othman Nasri (2)

1 IP - Institut Pascal
2 ENISo - National Engineering School of Sousse / Ecole Nationale d'Ingénieurs de Sousse

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.

Mots clés: Control architecture; Mobile robotics; Stability and Reachability analysis; Hybrid dynamic system; Hybrid automata; Interval analysis

Domaines: Automatique / Robotique; Automatique; Intelligence artificielle [cs.AI]; Robotique [cs.RO]; Systèmes et contrôle [cs.SY]

Amani Azzabi, Marwa Regaieg, Lounis Adouane, Othman Nasri. Hybrid and Multi-controller Architecture for Autonomous System: Application to the navigation of a mobile robot. 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO'14), Sep 2014, Vienna, Austria. ⟨hal-01712949⟩