中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Symbolic-based motion control method for wheeled mobile robots
作者: Hua JN(化建宁) ; Li HY(李洪谊) ; Wang YC(王越超) ; Xi N(席宁)
作者部门: 机器人学研究室
会议名称: 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
会议日期: August 5-7, 2009
会议地点: Shenyang, China
会议录: Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, USA
出版日期: 2009
页码: 1984-1988
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781424447954
关键词: Actuators ; Control theory ; Image classification ; Linguistics ; Mobile robots ; Motion control ; Motion planning ; Sensors ; Set theory
摘要: 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.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10428
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Symbolic-based motion control method for wheeled mobile robots.pdf(714KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
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
CSDL cross search
Similar articles in CSDL Cross Search
[Hua JN(化建宁)]‘s Articles
[Li HY(李洪谊)]‘s Articles
[Wang YC(王越超)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Symbolic-based motion control method for wheeled mobile robots.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

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

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace