A Stability Analysis for a Dynamical Robot Control Architecture

This paper addresses the feedback stabilization for a navigation architecture applied to wheeled mobile robots based on a mesh of nonlinear dynamical systems and feedthrough maps. The architecture provides a suitable robot's direction to avoid obstacles, while generating an appropriated velocity for the robot to complete its mission under temporal constraints.Mission success is analyzed as a stability problem using concepts from nonlinear analysis and control. Simulations of missions consisting on a mobile robot moving in an indoor environment illustrate the ideas developed.