An Adaptive Multi-Controller Architecture for Mobile Robot Navigation

Lounis Adouane (1)

1 IP - Institut Pascal

This paper proposes a hybrid control architecture dedicated to the navigation of autonomous mobile robots in presence of obstacles. The proposed control structure is flexible, adaptive and takes into account the different possible interactions between the multitude of controllers composing the architecture of control. This is enabled by the use of stable elementary controllers and to specific mechanisms of coordination and adaptation which guaranties the stability of the overall architecture.

Mots clés: Mobile robot navigation; Hybrid architecture of control; Adaptive systems; Lyapunov controller synthesis

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

Lounis Adouane. An Adaptive Multi-Controller Architecture for Mobile Robot Navigation. 10th IAS, Intelligent Autonomous Systems, Jul 2008, Baden-Baden, Germany. ⟨hal-01714874⟩