The role of sensing in motion stability of mobile robots
Jindong Tan, Ning Xi, Wei Kang · 2003
Generally, mobile robots are equipped with several kinds of sensors for locomotion environmental detection, etc. This paper presents a hybrid control system framework which considers a non-time based mobile robot controller and a discrete event controller combined with sensor fusion. The non-time based mobile robot controller supervised by the discrete event controller can track desired path while detecting and avoiding obstacles. This system structure has been implemented on a mobile robot. Experimental results demonstrate advantages of the proposed method.