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ABSTRACT
Path Planning and Trajectory Control of Collaborative Mobile Robots Using Hybrid Control Architecture
This paper presents the development and implementation a
hybrid control architecture to direct a collective of three X80
mobile robots to multiple user-defined waypoints. The Genetic
Algorithm Path Planner created an optimized, reduction in the
time to complete the task, path plan for each robot in the
collective such that each waypoint was visited once without
colliding with a priori obstacles. The deliberative Genetic
Algorithm Path Planner was then coupled with a reactive
Potential Field Trajectory Planner and kinematic based
controller to create a hybrid control architecture allowing the
mobile robot to navigate between multiple user-defined
waypoints, while avoiding a priori obstacles and obstacles
detected using the robots’ range sensors. The success of this
hybrid control architecture was proven through simulation and
experimentation using three of Dr. Robot’s ™ wireless X80
mobile robots.
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