一类多全方位机器人动力学系统的协调拟镇定
文献类型：会议论文
| 作者 | 王朝立; 谈大龙; 王越超
|
| 出版日期 | 2000 |
| 会议名称 | 3rd World Congress on Intelligent Control and Automation |
| 会议日期 | June 28-July 2, 2000 |
| 会议地点 | HEFEI, China |
| 关键词 | 全方位机器人 动力学 协调 避碰 拟镇定 |
| 页码 | 1201-1205 |
| 其他题名 | Coordinate pseudo-stabilization of dynamic systems for multiple mobile robots |
| 中文摘要 | 本文考虑了由两个全方位移动机器人组成的混合动力学系统的协调拟镇定问题。利用机器人位直之间的向爱与机器人目标之间向量份内积，设计了多步拟镇定律，该控制律能够在避碰后接指数速率运动到目标点，且在整个过程中两机器人之间的距离不小于避碰的安全距离。最后对两个全方位移动机器人进行了仿真，验证丁所给方法的有效性。 |
| 英文摘要 | This paper deals with the stabilisation of dynamic systems for two omnidirectional mobile robots by using the inner product of two vectors, one is from a robot's position to another, the other is from a robot's target point to another. The multi-step control law is given, which can exponentially stabilize the dynamic system and make the distance between two robots be great or equal to the collision-free safe distance. The application of it to two omni-directional mobile robots is described. Simulation result shows that the proposed controller is effective. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Univ Sci & Technol China, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Chinese Assoc Automat, Chinese Assoc Artificial Intelligence, Anhui Assoc Sci & Technol, Minist Educ, Natl Nat Sci Fdn China, Chinese Acad Sci, Intelligent Robot Subject Natl High Tech R&D (863) Program, State Adm Foreign Experts Affairs, China Int Ctr Econom & Techn Exchanges, Unit Nat Dev Programme, Anhui Provincial Peoples Gov, Anhui Sci & Technol Dept, Natl Key Lab Ind Control Technol |
| 会议录 | PROCEEDINGS OF THE 3RD WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-5
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 中文 |
| ISBN号 | 7-312-01203-5 |
| WOS记录号 | WOS:000166937900270 |
| 源URL | [http://ir.sia.cn/handle/173321/7788]  |
| 专题 | 沈阳自动化研究所_沈阳自动化所知识产出(2000年前) |
| 推荐引用方式 GB/T 7714 | 王朝立,谈大龙,王越超. 一类多全方位机器人动力学系统的协调拟镇定[C]. 见:3rd World Congress on Intelligent Control and Automation. HEFEI, China. June 28-July 2, 2000. |
入库方式： OAI收割
来源：沈阳自动化研究所
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