Control of Wheeled Mobile Robots Based on Motion Description Languages
HUA Jian-ning1,2, FU Xiu-hui1,2, ZHENG Wei1,2, WANG Yue-chao1
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
化建宁, 符秀辉, 郑伟, 王越超. 基于运动描述语言的轮式移动机器人控制[J]. 机器人, 2006, 28(3): 316-320..
HUA Jian-ning, FU Xiu-hui, ZHENG Wei, WANG Yue-chao. Control of Wheeled Mobile Robots Based on Motion Description Languages. ROBOT, 2006, 28(3): 316-320..
Abstract:A method based on motion description languages for robot control is introduced.Not only interactions between discrete and continuous dynamics that exist simultaneously in a robotic system can be described,but the complexity of steering a robot can also be measured quantitatively.The posture stabilization problem of nonholonomic wheeled mobile robots is studied using this method,and the simulation results verify the validity of this method.
[1] Alessandro D L,Oriolo G,Vendittelli M.Control of wheeled mobile robots:an experimental overview[EB/OL].http://www.dis.uniromal.it/~ labrob/pub/papers/Ramsete01.pdf,2004 -05 -02. [2] Canudas de Wit C,Khennouf H,Samson C,et al.Nonlinear control design for mobile robots[A].Recent Trends in Mobile Robots[M].Singapore:World Scientific Publisher,1993.121 -156. [3] Samson C.Time-varying feedback stabilization of car-like mobile robots[J].The International Journal of Robotics Research,1993,12(1):55 -64. [4] De Luca A,Di Benedetto M D.Control of nonholonomic systems via dynamic compensation[J].Kybernetica,1993,29(6):593 -608. [5] Aicardi M,Casalino G,Bicchi A,et al.Closed loop steering of unicycle-like vehicles via Lyapunov techniques[J].IEEE Robotics and Automation Magazine,1995,2(1):27 -35. [6] Brockett R W.On the computer control of movements[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].USA:IEEE,1988.534 -540. [7] Brockett R W.Formal languages for motion description and map making[A].Proceedings of Symposia in Applied Mathematics[C].Lousville:1990,vol.41.181-193. [8] Manikonda V,Krishnaprasad P S,Hender J.A motion description language and a hybrid architecture for motion planning with nonholonomic robots[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,USA:IEEE,1995.2021-2028. [9] Lee S O,Kim M C,Youm Y,et al.Control of a car-like mobile robot for parking problem[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,USA:IEEE,1999.1 -6.