Modeling and Control of Wheeled Mobile Robot in Constrained Environment Based on Hybrid Control Framework
This article addresses the hybrid control method for wheeled mobile robot in constrained environment. Wheeled mobile robots, which are characterized by nonholonomic constraints, are particularly difficult to control since environment constraints should be taken into account sometimes. Traditional control methods, which are based on precise models of environment, may lead to great challenges in determining suitable control laws to steer wheeled mobile robots. To enhance autonomy of wheeled mobile robots, hybrid system frameworks which consider simultaneously the control and decision-making issues are required. In this paper, the wheeled mobile robot which operates in a constrained environment is modeled as a 3-layered hybrid architecture: finite state machine for the decision-making process, wheeled mobile robot system for the continuous state plant, while the interface as the interaction between the continuous dynamics and the decision-making process. It is obvious that this hybrid architecture is particularly useful in describing the interactions between discrete and continuous components that exist simultaneously in robotic systems. Simulation results show that the proposed method is effective for the control of wheeled mobile robots.
Jianning Hua Yujie Cui Wei Ding Hongyi Li Yuechao Wang Ning Xi
Northeastern University at Qinhuangdao,Qinhuangdao,066004 State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
75-79
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）