文献类型： 会议论文

第一作者： Amani Azzabi

作者： Amani Azzabi ¹ ; Marwa Regaieg ¹ ; Lounis Adouane ² ; Othman Nasri ¹ ;

作者机构： 1.Research Unit SAGE, ENISo, University of Sousse

2.Institut Pascal, Blaise Pascal University - UMR CNRS 6602

关键词： Control Architecture;Mobile Robotics;Stability and Reachability Analysis;Hybrid Dynamic System;Hybrid Automata;Interval Analysis

会议名称： International Conference on Informatics in Control, Automation and Robotics

主办单位：

页码： 485-491

摘要： 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.

分类号： TP2-53