A Hybrid Automata Approach for Robotic Perceptive Control and Planning

This paper presents a hybrid automata approach for modeling and analyzing the robotic motion planning and control. Robotic systems acquire data from perceptive sensors and respond to the perceptions through decision and control process. The hybrid perceptive framework is built based on continuous and discrete perceptive references. The robot can plan and modifying the original path through switching the continuous controller at discrete level. The hybrid system is stable in switching. The evolution of the hybrid references can be guaranteed during the unexpected events that can block the continuous or discrete references. Copyright c ©2005 IFAC.