Trajectory tracking and obstacle avoidance by stabile switching of behavior-based controllers

MARCOS TOIBERO; CARLOS SORIA; RICARDO CARELLI; BENJAMÍN KUCHEN

Río Cuarto, Córdoba

Simposio; XI Reunión de Trabajo en Procesamiento de la Información y Control, RPIC05; 2005

Universidad Nacional de Río Cuarto

This article investigates how a behavior-based system can be modeled as a switching system, in which each individual controller corresponds to a distinct behavior. To this aim, a trajectory tracking between two points with an obstacle in an unknown position, is considered. The approach switches between trajectory tracking, obstacle avoidance and orientation behaviors. The stability of the overall system is verified by a common Lyapunov function. Simulation results and experiments on a laboratory robot are presented to show the practical feasibility of the proposed switched control system.