A hybrid controller for a nonholonomic car-like robot

This paper presents the usage of hybrid systems to develop an adaptive recent horizon controller for a nonholonomic car-like robot. The system is modeled by a non-deterministic hybrid system in which transitions represent the discrete control actions, mode invariants the constraints and the transition relation encodes sequencing requirements. The control algorithm examines at runtime the possible traces into the future by determining at which time point to switch to which mode. Based on these predictions the next control move is performed. We demonstrate our approach by controlling a car-like robot though a maze without any pre-runtime path planing.