SIA OpenIR  > 机器人学研究室
Symbolic-based motion control method for wheeled mobile robots
Hua JN(化建宁); Li HY(李洪谊); Wang YC(王越超); Xi N(席宁)
Department机器人学研究室
Conference Name2009 IEEE International Conference on Automation and Logistics, ICAL 2009
Conference DateAugust 5-7, 2009
Conference PlaceShenyang, China
Source PublicationProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
PublisherIEEE Computer Society
Publication PlacePiscataway, USA
2009
Pages1984-1988
Indexed ByEI ; CPCI(ISTP)
EI Accession number20094812516719
WOS IDWOS:000291503401116
Contribution Rank2
ISBN978-1-4244-4795-4
KeywordActuators Control Theory Image Classification Linguistics Mobile Robots Motion Control Motion Planning Sensors Set Theory
Abstract

A symbolic-based motion control method for wheeled mobile robots is put forward in this paper. Wheeled mobile robots, which are characterized by the nonholonomic constraints, are particularly difficult to control since real environment may be full of obstacles. Traditional methods have to resort to analysis and design at the level of individual sensors and actuators. As a result, the richness of the set of mappings from sensor to actuator signals constitutes a great challenge in determining a suitable control law to steer the wheeled mobile robot. In view of those considerations, a symbolic-based control method is presented, in which control procedures have a natural, linguistic flavor. In this method, different control procedures can be generated from a finite set composed of symbols which correspond to different control actions. It is obvious that this method allows one to design feedback control laws at the level of strings and primitives, rather than at the level of sensors and actuators. Simulation results show that the proposed method is effective for the control of wheeled mobile robots. © 2009 IEEE.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10428
Collection机器人学研究室
Corresponding AuthorHua JN(化建宁)
Affiliation1.Department of Automation Engineering, Northeastern University, Qinhuangdao Taishan road, Qinhuangdao 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Hua JN,Li HY,Wang YC,et al. Symbolic-based motion control method for wheeled mobile robots[C]. Piscataway, USA:IEEE Computer Society,2009:1984-1988.
Files in This Item: Download All
File Name/Size DocType Version Access License
Symbolic-based motio(714KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Hua JN(化建宁)]'s Articles
[Li HY(李洪谊)]'s Articles
[Wang YC(王越超)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Hua JN(化建宁)]'s Articles
[Li HY(李洪谊)]'s Articles
[Wang YC(王越超)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Hua JN(化建宁)]'s Articles
[Li HY(李洪谊)]'s Articles
[Wang YC(王越超)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Symbolic-based motion control method for wheeled mobile robots.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.