Modeling and control of wheeled mobile robot based on hybrid automata

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	2010
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
关键词	Decision making Electric grounding Hybrid computers Hybrid systems Integral equations Translation (languages)
页码	3375-3379
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	2
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
语种	英语
ISBN号	978-1-4244-5182-1
WOS记录号	WOS:000290460301318
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10508]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Shi P,Zhao YW,Cui YJ. Modeling and control of wheeled mobile robot based on hybrid automata[C]. 见:2010 Chinese Control and Decision Conference, CCDC 2010. Xuzhou, China. May 26-28, 2010.