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

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.

[1]  Wang Yuechao,et al.  Control of Wheeled Mobile Robots Based on Motion Description Languages , 2006 .

[2]  Magnus Egerstedt,et al.  Special Section on Symbolic Methods for Complex Control Systems , 2006 .

[3]  S. Sastry,et al.  Nonholonomic motion planning: steering using sinusoids , 1993, IEEE Trans. Autom. Control..

[4]  Farzad Pourboghrat.  Exponential stabilization of nonholonomic mobile robots , 2002, Comput. Electr. Eng..

[5]  Munther A. Dahleh,et al.  Maneuver-based motion planning for nonlinear systems with symmetries , 2005, IEEE Transactions on Robotics.

[6]  Roger W. Brockett,et al.  On the computer control of movement , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[7]  James A. Hendler,et al.  Languages, behaviors, hybrid architectures, and motion control , 1998 .

[8]  Magnus Egerstedt.  Linguistic control of mobile robots , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[9]  Carlos Canudas de Wit,et al.  NONLINEAR CONTROL DESIGN FOR MOBILE ROBOTS , 1994 .

[10]  Dimitrios Hristu-Varsakelis,et al.  Symbolic feedback control for navigation , 2006, IEEE Transactions on Automatic Control.

[11]  James A. Hendler,et al.  A motion description language and a hybrid architecture for motion planning with nonholonomic robots , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[12]  Alessandro De Luca,et al.  Control of nonholonomic systems via dynamic compensation , 1993, Kybernetika.

[13]  Roger W. Brockett,et al.  Hybrid Models for Motion Control Systems , 1993 .

[14]  Claude Samson,et al.  Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots , 1993, Int. J. Robotics Res..

[15]  John T. Wen,et al.  Feedback stabilization of nonholonomic systems in presence of obstacles , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[16]  C. Samson.  Control of chained systems application to path following and time-varying point-stabilization of mobile robots , 1995, IEEE Trans. Autom. Control..

[17]  Magnus Egerstedt,et al.  Motion Description Languages for Multi-Modal Control in Robotics , 2003, Control Problems in Robotics.

[18]  Wan Kyun Chung,et al.  Control of a car-like mobile robot for parking problem , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).