Modeling and control of wheeled mobile robot based on hybrid automata
文献类型：会议论文
| 作者 | Shi P(石璞); Zhao YW(赵忆文) ; Cui YJ(崔玉洁)
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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