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题名: MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints
作者: Shi P(石璞) ; Zhao YW(赵忆文) ; Hua JN(化建宁)
作者部门: 机器人学研究室
会议名称: 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
会议日期: December 19-23, 2009
会议地点: Guilin, China
会议主办者: IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong
会议录: 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 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: 2255-2260
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781424447756
关键词: Biomimetics ; Environmental regulations ; Robotics ; Stabilization
摘要: This paper addresses the problem of posture stabilization for a wheeled mobile robot with nonholonomic constraints. Due to the richness of mappings from sensor space to actuator signal space and the complexity of system and environment modeling, it becomes particularly difficult to select an appropriate control law for the posture stabilization problem. In this paper, we propose a novel approach based on Motion Description Language (MDL) for this problem. The method decomposes the control task into a finite collection of reactive behaviors and generates different control procedures through concatenation operation of predefined motion atoms. Each symbolic string defines an expected behavior while a complex control task can be achieved by combining several symbolic strings. As an illustration, parking problem of the wheeled mobile robot with nonholonomic constraint is studied and simulation results demonstrate the effectiveness of this method. © 2009 IEEE.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10462
Appears in Collections:机器人学研究室_会议论文

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