Analysis of a Behavior Based Nonholonomic Wheeled Mobile Robot Control With Hybrid System Approach

In this paper, a novel design and analysis of a Hybrid Multiagent System (HMAS) with switching behaviors, random walk, formation, and obstacle avoidance is proposed. Under the well designed Lyapunov based controller, each autonomous agent which is composed of a wheeled mobile manipulator (WMM) with switching behaviors subjected to the flow over a hybrid model can manipulate the surrounding objects together with other agents so as to successfully accomplish the cooperative mission. Not only the stability of different behaviors on an agent is analyzed under the well-designed controller but also that of the entire hybrid system is established so that different behaviors of an agent can be alternated successfully. The contributions of this paper can be split into three parts: First, behaviors are designed subjected to the Lyapunov based control and their stability issues are proved; Second, the dynamic hybrid system is analyzed with dynamic properties of behaviors; Third, the innate characteristics of task switching are analyzed for multiagent hybrid system. Finally, a design example and simulation of a hybrid system is obtained in this paper to show the advantages of this framework.