A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment
This paper introduces a new hybrid control architecture for solving the navigation problem of mobile robot in an unknown dynamic environment based on an actual-virtual target switching strategy. This hybrid architecture is a combination of deliberative and reactive architectures which consists of th...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2015
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| Online Access: | http://psasir.upm.edu.my/id/eprint/69671/1/A%20hybrid%20control%20architecture%20for%20autonomous%20mobile%20robot%20navigation%20in%20unknown%20dynamic%20environment.pdf |
| _version_ | 1796978983301021696 |
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| author | Nakhaeinia, Danial Payeur, Pierre Tang, Sai Hong Karasfi, Babak |
| author_facet | Nakhaeinia, Danial Payeur, Pierre Tang, Sai Hong Karasfi, Babak |
| author_sort | Nakhaeinia, Danial |
| collection | UPM |
| description | This paper introduces a new hybrid control architecture for solving the navigation problem of mobile robot in an unknown dynamic environment based on an actual-virtual target switching strategy. This hybrid architecture is a combination of deliberative and reactive architectures which consists of three layers: modeling, planning and reaction. The deliberative architecture produces collision-free with shortest-distance path, while using the reactive architecture generates safe and time minimal navigation path. The proposed approach differs from previous ones in its integration architecture, the control techniques implemented in each module, and interfaces between the deliberative and reactive components. Validity and feasibility of the proposed approach are verified through simulation and real robot experiments. |
| first_indexed | 2024-03-06T10:02:23Z |
| format | Conference or Workshop Item |
| id | upm.eprints-69671 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T10:02:23Z |
| publishDate | 2015 |
| publisher | IEEE |
| record_format | dspace |
| spelling | upm.eprints-696712019-07-08T02:44:29Z http://psasir.upm.edu.my/id/eprint/69671/ A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment Nakhaeinia, Danial Payeur, Pierre Tang, Sai Hong Karasfi, Babak This paper introduces a new hybrid control architecture for solving the navigation problem of mobile robot in an unknown dynamic environment based on an actual-virtual target switching strategy. This hybrid architecture is a combination of deliberative and reactive architectures which consists of three layers: modeling, planning and reaction. The deliberative architecture produces collision-free with shortest-distance path, while using the reactive architecture generates safe and time minimal navigation path. The proposed approach differs from previous ones in its integration architecture, the control techniques implemented in each module, and interfaces between the deliberative and reactive components. Validity and feasibility of the proposed approach are verified through simulation and real robot experiments. IEEE 2015 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/69671/1/A%20hybrid%20control%20architecture%20for%20autonomous%20mobile%20robot%20navigation%20in%20unknown%20dynamic%20environment.pdf Nakhaeinia, Danial and Payeur, Pierre and Tang, Sai Hong and Karasfi, Babak (2015) A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment. In: 2015 IEEE International Conference on Automation Science and Engineering (CASE), 24-28 Aug. 2015, Gothenburg, Sweden. (pp. 1274-1281). 10.1109/CoASE.2015.7294274 |
| spellingShingle | Nakhaeinia, Danial Payeur, Pierre Tang, Sai Hong Karasfi, Babak A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| title | A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| title_full | A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| title_fullStr | A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| title_full_unstemmed | A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| title_short | A hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| title_sort | hybrid control architecture for autonomous mobile robot navigation in unknown dynamic environment |
| url | http://psasir.upm.edu.my/id/eprint/69671/1/A%20hybrid%20control%20architecture%20for%20autonomous%20mobile%20robot%20navigation%20in%20unknown%20dynamic%20environment.pdf |
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