MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints

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

	MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints
	Shi P(石璞); Zhao YW(赵忆文); Hua JN(化建宁)
	2009
会议名称	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
会议日期	December 19-23, 2009
会议地点	Guilin, China
关键词	Biomimetics Environmental regulations Robotics Stabilization
页码	2255-2260
中文摘要	This paper addresses the problem of posture stabilization for a wheeled mobile robot with nonholonomic constraints. Due to the richness of mappings from sensor space to actuator signal space and the complexity of system and environment modeling, it becomes particularly difficult to select an appropriate control law for the posture stabilization problem. In this paper, we propose a novel approach based on Motion Description Language (MDL) for this problem. The method decomposes the control task into a finite collection of reactive behaviors and generates different control procedures through concatenation operation of predefined motion atoms. Each symbolic string defines an expected behavior while a complex control task can be achieved by combining several symbolic strings. As an illustration, parking problem of the wheeled mobile robot with nonholonomic constraint is studied and simulation results demonstrate the effectiveness of this method. © 2009 IEEE.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong
会议录	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, USA
语种	英语
ISBN号	978-1-4244-4775-6
WOS记录号	WOS:000285530501178
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10462]
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,Hua JN. MDL-based posture stabilization for wheeled mobile robots with nonholonomic constraints[C]. 见:2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. Guilin, China. December 19-23, 2009.