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.
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