File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Symbolic-based motion control method for wheeled mobile robots

TitleSymbolic-based motion control method for wheeled mobile robots
Authors
KeywordsWheeled mobile robot
Symbolic control
Motion description language
Issue Date2009
Citation
Proceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009, 2009, p. 1984-1988 How to Cite?
AbstractA symbolic-based motion control method for wheeled mobile robots is put forward in this paper. Wheeled mobile robots, which are characterized by the nonholonomic constraints, are particularly difficult to control since real environment may be full of obstacles. Traditional methods have to resort to analysis and design at the level of individual sensors and actuators. As a result, the richness of the set of mappings from sensor to actuator signals constitutes a great challenge in determining a suitable control law to steer the wheeled mobile robot. In view of those considerations, a symbolic-based control method is presented, in which control procedures have a natural, linguistic flavor. In this method, different control procedures can be generated from a finite set composed of symbols which correspond to different control actions. It is obvious that this method allows one to design feedback control laws at the level of strings and primitives, rather than at the level of sensors and actuators. Simulation results show that the proposed method is effective for the control of wheeled mobile robots. © 2009 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/213080

 

DC FieldValueLanguage
dc.contributor.authorHua, Jianning-
dc.contributor.authorLi, Hongyi-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:06:04Z-
dc.date.available2015-07-28T04:06:04Z-
dc.date.issued2009-
dc.identifier.citationProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009, 2009, p. 1984-1988-
dc.identifier.urihttp://hdl.handle.net/10722/213080-
dc.description.abstractA symbolic-based motion control method for wheeled mobile robots is put forward in this paper. Wheeled mobile robots, which are characterized by the nonholonomic constraints, are particularly difficult to control since real environment may be full of obstacles. Traditional methods have to resort to analysis and design at the level of individual sensors and actuators. As a result, the richness of the set of mappings from sensor to actuator signals constitutes a great challenge in determining a suitable control law to steer the wheeled mobile robot. In view of those considerations, a symbolic-based control method is presented, in which control procedures have a natural, linguistic flavor. In this method, different control procedures can be generated from a finite set composed of symbols which correspond to different control actions. It is obvious that this method allows one to design feedback control laws at the level of strings and primitives, rather than at the level of sensors and actuators. Simulation results show that the proposed method is effective for the control of wheeled mobile robots. © 2009 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings of the 2009 IEEE International Conference on Automation and Logistics, ICAL 2009-
dc.subjectWheeled mobile robot-
dc.subjectSymbolic control-
dc.subjectMotion description language-
dc.titleSymbolic-based motion control method for wheeled mobile robots-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICAL.2009.5262631-
dc.identifier.scopuseid_2-s2.0-70450160957-
dc.identifier.spage1984-
dc.identifier.epage1988-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats