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题名: Modeling and control of wheeled mobile robot based on hybrid automata
作者: Shi P(石璞) ; Zhao YW(赵忆文) ; Cui, Yujie
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: 2010 Chinese Control and Decision Conference, CCDC 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, USA
出版日期: 2010
页码: 3375-3379
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781424451821
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. ©2010 IEEE.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10508
Appears in Collections:机器人学研究室_会议论文

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