차륜형 이동로봇의 경로 계획과 자율 주행을 위한 하이브리드 시스템 모델과 제어

Hybrid System Modeling and Control for Path Planning and Autonomous Navigation of Wheeled Mobile Robots

  • 임미섭 (한양대 대학원 전자공학과) ;
  • 임준홍 (한양대 공대 전자·컴퓨터 공학부)
  • 발행 : 2000.01.01

초록

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

키워드

참고문헌

  1. John J. Leonard, Hough F. Durrant-Whyte, and Ingemar J. Cox, 'Dynamic Map Building for an Autonomous Mobile Robot,' Intl. J. of Robotics Research, Vol. 11, No. 4, pp. 286-298, 1992 https://doi.org/10.1177/027836499201100402
  2. Wonyun Choi and Jean-Claude Latombe, 'A Reactive Architecture for Planing and Executing Robot Motions with Incomplete Knowledge,' IEEE/RSJ Intl. Conf. on Intelligence Robots and Systems, Vol. 1, pp. 24-29, 1991 https://doi.org/10.1109/IROS.1991.174421
  3. J.-P. Laumond, Paul E. Jacobs, Michel Taix, and Richard M. Murray, 'A Motion Planner for Nonholonomic Mobile Robots,' IEEE Trans. on Robotics and Automation, Vol. 10, No. 5, pp. 577-592, 1994 https://doi.org/10.1109/70.326564
  4. Oussama Khatib, 'Real-time Obstacle Avoidance for Manipulators and Mobile Robots,' Intl. J. of Robotics Research, Vol. 5, No. 1, pp. 90-98, 1986 https://doi.org/10.1177/027836498600500106
  5. Maher Khatib and Raja Chatila, 'An Extended Potential Field Approach for Mobile Robot Sensor-based Motions,' Intl. Conf. on Intelligent Autonomous Systems, pp. 490-496, 1995
  6. D. E. Koditschek, 'Exact Robot Navigation by Means of Potential Functions: Some Topological Considerations,' IEEE Intl. Conf. on Robotics and Automation, pp. 1-6, 1987
  7. Johann. Borenstein and Yoram Koren, 'The Vector Field Histogram-Fast Obstacle Avoidance for Mobile Robots,' IEEE Trans. on Robotics and Automation, Vol. 7, No. 3, pp. 278-288, 1991 https://doi.org/10.1109/70.88137
  8. M. Branicky, 'Universal Computation and other Capabilities of Hybrid and Continuous Dynamical Systems,' Theoretical Computer Science, Special Issue on Hybrid Systems, Vol. 138, No. 1, pp. 67-100, 1995 https://doi.org/10.1016/0304-3975(94)00147-B
  9. R. Brockett, Hybrid Models for Motion Control Systems, Essay on Control: Perspectives in the Theory and Its Applications, H. L. Trentelman and J. C. Willems, Eds. Boston, MA:Birkhauser, pp. 29-53, 1993
  10. X. Nicolin, A. Olivero, J. Sifakis, and S. Yovine, An Approach to the Description and Analysis of Hybrid Systems, in LNCS 736, pp. 149-178, Springer-Verlag, 1993 https://doi.org/10.1007/3-540-57318-6_28
  11. R. Alur, C. Courcoubetis, T. Henzinger, and P. H. Ho., Hybrid Automata: An Algorithmic Approach to the Specification and Verification of Hybrid System, in LNCS 736, pp. 209-229, Springer-Verlag, 1993 https://doi.org/10.1007/3-540-57318-6_30
  12. A. Puri, Theory of Hybrid Systems and Discrete Event Systems, Ph.D Thesis, Uinv. C. Berkeley, 1995
  13. J. M. Coron and B. dAndrea-Novel, Global Asymptotic Stabilization for Controllabe Systems without Drift, Mathematical Control on Signal and Systems, Vol. 5, pp. 295-312, 1992 https://doi.org/10.1007/BF01211563
  14. R. W. Brcokett, Asymptotic Stability and Feedback Stabilization, Differential Geometric Control Theory, Boston:Birkhauser, pp. 181-191, 1983
  15. C. Samson and K. Ait-Abderrahim, 'Feedback Control of a Nonholonomic Wheeled Cart in Cartesian Space,' IEEE Conf. on Robotics and Automation, pp. 1136-1141, 1990 https://doi.org/10.1109/ROBOT.1991.131748
  16. M.-S. Lim, J. Lim and S.-R. Oh, 'A Hybrid System Approach to Motion Control of Wheeled Mobile Robots,' IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, pp. 210-215, 1998 https://doi.org/10.1109/IROS.1998.724621