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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)
Department机器人学研究室
Conference Name2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference DateDecember 19-23, 2009
Conference PlaceGuilin, China
Author of SourceIEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong
Source Publication2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
PublisherIEEE
Publication PlaceNEW YORK
2009
Pages75-79
Indexed ByEI ; CPCI(ISTP)
EI Accession number20101712894786
WOS IDWOS:000285530500013
Contribution Rank2
ISBN978-1-4244-4775-6
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20038
Collection机器人学研究室
Corresponding AuthorHua JN(化建宁)
Affiliation1.Northeastern University at Qinhuangdao, Qinhuangdao, 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
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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