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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)
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
会议录名称Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009
出版者IEEE Computer Society
出版地Piscataway, USA
2009
页码1984-1988
收录类别EI ; CPCI(ISTP)
EI收录号20094812516719
WOS记录号WOS:000291503401116
产权排序2
ISBN号978-1-4244-4795-4
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.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10428
专题机器人学研究室
通讯作者Hua JN(化建宁)
作者单位1.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
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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.
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