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In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The p roposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach i s an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance ofthe highspeed navigation is excellent.

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