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MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints
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
会议录名称2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
出版者IEEE Computer Society
出版地Piscataway, USA
2009
页码2255-2260
收录类别EI ; CPCI(ISTP)
EI收录号20101712895161
WOS记录号WOS:000285530501178
产权排序2
ISBN号978-1-4244-4775-6
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.

语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10462
专题机器人学研究室
作者单位1.Department of Automation Engineering, Northeastern University at Qinhuangdao, Qinhuangdao, Hebei Province, 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
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GB/T 7714
Shi P,Zhao YW,Hua JN. MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints[C]//IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong. Piscataway, USA:IEEE Computer Society,2009:2255-2260.
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