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Modeling and control of wheeled mobile robot in constrained environment based on hybrid control framework
Hua JN(化建宁); Cui YJ(崔玉洁); Ding W(丁伟); 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 Robotics and Biomimetics (ROBIO)
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)
出版者IEEE
出版地NEW YORK
2009
页码75-79
收录类别EI ; CPCI(ISTP)
EI收录号20101712894786
WOS记录号WOS:000285530500013
产权排序2
ISBN号978-1-4244-4775-6
摘要This article addresses the hybrid control method for wheeled mobile robot in constrained environment. Wheeled mobile robots, which are characterized by nonholonomic constraints, are particularly difficult to control since environment constraints should be taken into account sometimes. Traditional control methods, which are based on precise models of environment, may lead to great challenges in determining suitable control laws to steer wheeled mobile robots. To enhance autonomy of wheeled mobile robots, hybrid system frameworks which consider simultaneously the control and decision-making issues are required. In this paper, the wheeled mobile robot which operates in a constrained environment is modeled as a 3-layered hybrid architecture: finite state machine for the decision-making process, wheeled mobile robot system for the continuous state plant, while the interface as the interaction between the continuous dynamics and the decision-making process. It is obvious that this hybrid architecture is particularly useful in describing the interactions between discrete and continuous components that exist simultaneously in robotic systems. Simulation results show that the proposed method is effective for the control of wheeled mobile robots.
语种英语
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被引频次:5[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/173321/20038
专题机器人学研究室
通讯作者Hua JN(化建宁)
作者单位1.Northeastern University at Qinhuangdao, 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
Hua JN,Cui YJ,Ding W,et al. Modeling and control of wheeled mobile robot in constrained environment based on hybrid control framework[C]//IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong. NEW YORK:IEEE,2009:75-79.
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