Research on Autonomous Obstacle Avoidance of Mobile Robot Based on Hybrid System

摘要

The working environment of mobile robot has become more and more complex. Through researching on hybrid system, this paper presents a system of autonomous obstacle avoidance for mobile robot. A series of autonomous navigation behaviors is designed individually. By using hybrid automata, these designed autonomous navigation behaviors fuse together in the autonomous obstacle avoidance system. The Matlab simulation shows that the whole system is effective and feasible.