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Modeling and control of wheeled mobile robot based on hybrid automata
Shi P(石璞); Zhao YW(赵忆文); Cui YJ(崔玉洁)
作者部门机器人学研究室
会议名称2010 Chinese Control and Decision Conference, CCDC 2010
会议日期May 26-28, 2010
会议地点Xuzhou, China
会议主办者IEEE Control Systems Society (CSS); IEEE Industrial Electronics Society (IES); Automatic Control Society of Chinese Association of Aeronautics; Simul. Methods Model. Soc. Chin. Assoc. Syst. Simul.; Intelligent Control Manage. Soc., Chin. Assoc. Artif. Intell.
会议录名称2010 Chinese Control and Decision Conference, CCDC 2010
出版者IEEE Computer Society
出版地Piscataway, USA
2010
页码3375-3379
收录类别EI ; CPCI(ISTP)
EI收录号20103213139913
WOS记录号WOS:000290460301318
产权排序2
ISBN号978-1-4244-5182-1
关键词Decision Making Electric Grounding Hybrid Computers Hybrid Systems Integral Equations Translation (Languages)
摘要

Conventional methods are particularly difficult to control wheeled mobile robot because the control approaches require precise models of the system and the environment. To enhance flexibility of control system of wheeled mobile robots, hybrid system frameworks which consider simultaneously the control and decision-making issues are required. In this paper, we model hybrid system using hybrid automata: through analyzing the control process, discrete state set for wheeled mobile robot positioning is set up; transition conditions among discrete states are defined; kinetic equations corresponding to each discrete state are established. This method is particularly useful in modeling the interactions between discrete and continuous components that exist simultaneously in robotic systems. Simulation results verify the validity of this method.

语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10508
专题机器人学研究室
作者单位1.Department of Automation Engineering, Northeastern University, Qinhuangdao, 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
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GB/T 7714
Shi P,Zhao YW,Cui YJ. Modeling and control of wheeled mobile robot based on hybrid automata[C]//IEEE Control Systems Society (CSS); IEEE Industrial Electronics Society (IES); Automatic Control Society of Chinese Association of Aeronautics; Simul. Methods Model. Soc. Chin. Assoc. Syst. Simul.; Intelligent Control Manage. Soc., Chin. Assoc. Artif. Intell.. Piscataway, USA:IEEE Computer Society,2010:3375-3379.
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