{'fraction_non_alphanumeric': 0.015965166908563134, 'fraction_numerical': 0.0, 'mean_word_length': 5.509433962264151, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Trajectory Tracking and Obstacle Avoidance by Stable Switching of Behavior-Based Controllers

This article investigates how a behavior-based system can be modeled as a switching system, in which each individual controller corresponds to a distinct behavior. To this aim, a trajectory tracking between two points with an obstacle in an unknown position, is considered. The approach switches between trajectory tracking, obstacle avoidance and orientation behaviors. The stability of the overall system is verified by a common Lyapunov function. Simulation results and experiments on a laboratory robot are presented to show the practical feasibility of the proposed switched control system.