Modeling and Supervisory Control of Mobile Robots: A Case of a Sumo Robot
César Rafael Claure Torrico, Andre Bittencourt Leal, Ana Teruko Yokomizo Watanabe · IFAC-PapersOnLine · 2016
: This paper presents a methodology for modeling and controlling autonomous mobile robots and illustrates this approach using a sumo robot problem. The free behavior of the robot and its control specifications are modeled by finite state machines, and the supervisory control theory of discrete event systems is used to obtain the logical behavior of the robot in closed-loop. We also present a proposal for implementing the control structure obtained by the presented approach.