Discrete Event Control for Mobile Robots
نویسندگان
چکیده
A new technique for the control of mobile robots using a discrete event model is presented. Physical obstacles are represented by constraints on the motion of the robot. In the discrete event model, the discrete state of the system is de-ned by the currently active constraint. This paper uses dynamic constraints which depend upon the velocity as well as the position of the robot. Dynamic constraints are more accurate than simple, position-based models. The discrete event model is used for the control of a nonholonomic mobile robot in indoor navigation tasks. Experimental results demonstrating the eeectiveness of the method for navigation tasks are presented.
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