MDL-based Posture Stabilization for Wheeled Mobile Robots with Nonholonomic Constraints

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.

作者: Pu Shi Yiwen Zhao Jianning Hua

作者单位: Department of Automation Engineering Northeastern University at Qinhuangdao,Qinhuangdao,Hebei Provin State Key Laboratory of Robotics SIA,Chinese Academy of Sciences,Shenyang,Liaoning Province,110016,C

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2255-2260

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）