Sistema de controle híbrido para robôs móveis autônomos

Abstract

In this work we developed a robust control system for autonomous mobile robots

capable of operating and adapting in various environments and conditions. In order to

accomplish this objective an hybrid control architecture (COHBRA) was proposed,

integrating the two main techniques of robotic control: deliberative control and reactive

control. This control architecture uses a three layers approach to integrate a vital layer

(reactive control), a functional layer (sequencer) and a deliberative layer (deliberative

control). The communication between the three layers uses a shared memory approach,

inspired in the Blackboard approach. The control architecture has a structure of multiple

internal representations of the environment: polygonal representation, matricial

representation and topological/semantic representation.

The control system has the ability to navigate in a dynamic environment,

avoiding static obstacles and unexpected mobile obstacles. The deliberative layer uses

the A* algorithm to calcu