An Adaptive Multi-Controller Architecture for Mobile Robot Navigation
Lounis Adouane · IOS Press eBooks · 2008
This paper proposes a hybrid control architecture dedicated to the navigation of autonomous mobile robots in presence of obstacles. The proposed control structure is flexible, adaptive and takes into account the different possible interactions between the multitude of controllers composing the architecture of control. This is enabled by the use of stable elementary controllers and to specific mechanisms of coordination and adaptation which guaranties the stability of the overall architecture.