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This paper presents a modeling and analysis method for the motion planning and control of mobile robot systems in a hybrid fashion. Robotic systems obtain environmental information from perceptive sensors and respond to the perceptions to execute the task through decision and control process. The hybrid perceptive model of the robotic system has one continuous and two discrete layers, and it also has continuous and discrete perceptive references. The discrete layers enable the robot system to plan and modify original path through switching. Stability can be guaranteed in switching. The hybrid perceptive references can not be stopped by blocking the continuous reference, including obstacles. The model is verified by experiments.