Modeling and Control of Wheeled Mobile Robot Based on Hybrid Automata
Conventional methods are particularly difficult to control wheeled mobile robot because the control approaches require precise models of the system and the environment. To enhance flexibility of control system of wheeled mobile robots, hybrid system frameworks which consider simultaneously the control and decision-making issues are required. In this paper, we model hybrid system using hybrid automata: through analyzing the control process, discrete state set for wheeled mobile robot positioning is set up; transition conditions among discrete states are defined; kinetic equations corresponding to each discrete state are established. This method is particularly useful in modeling the interactions between discrete and continuous components that exist simultaneously in robotic systems. Simulation results verify the validity of this method.
Wheeled Mobile Robot Hybrid System Hybrid Automata
Pu Shi Yiwen Zhao Yujie Cui
Department of Automation Engineering, Northeastern University, Qinhuangdao, 066004, China State Key Laboratory of Robotics SIA, Chinese Academy of Sciences, Shenyang, 110016, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
3375-3379
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）