Hybrid system model for event-based planning and control of robot operations

This paper presents an event-based hybrid system approach for the motion planning and control of mobile robot systems. The ability of dealing with unexpected events is one of the important aspects of robot intelligence. Robotic systems can obtain environmental information from sensors and respond to environmental information by making task decisions. According to the task decisions, the system is able to modify the original planned path and control the robot to execute the task autonomously. The event based hybrid system model has three layers, one continuous layer, and two discrete layers. The hybrid system model enables the robot system to make decisions and modify original path plans. Experimental results verified the proposed approach.