A biologically inspired homeostatic motion controller for autonomous mobile robots

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1242076

Do-Young Yoon, Sang-Rok Oh, Gwi-Tae Park, Bum-Jae You

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引用次数: 2

Abstract

This paper proposes an autonomous motion controller for mobile robots. It combines a biologically inspired motion planner and a nonlinear feedback controller in order to make a simple and practical motion controller in natural unknown environments. The motion planner part is designed in the frame of behavior-based scheme and adopts the biological concept "homeostasis". It plays the role of determining desired temporal target posture and modifying controller's gain parameters. The other nonlinear controller part drives the robot to the given target posture from the planner. As a result, the stable nonlinear feedback controller in ideal obstacle free space becomes practical one in natural environments constrained by obstacles. The proposed controller is simple mainly due to its behavior-based characteristics and stable due to the feedback controller considering robot's physical constraints. Simulated results and some experimental feature for autonomous navigation of the differential drive mobile robot, named "MARI", are shown for the present.

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一种受生物学启发的自主移动机器人的自稳态运动控制器

提出了一种用于移动机器人的自主运动控制器。它结合了生物学启发的运动规划器和非线性反馈控制器，以便在自然未知环境中制作简单实用的运动控制器。运动规划部分是在基于行为的方案框架下设计的，并采用了生物学概念“内稳态”。它的作用是确定目标的期望时间姿态和修改控制器的增益参数。另一个非线性控制器部分由规划器驱动机器人到给定的目标姿态。从而使理想无障碍物环境中的稳定非线性反馈控制器在有障碍物约束的自然环境中变为实用控制器。该控制器的简单性主要来自于其基于行为的特性，而稳定性主要来自于考虑了机器人物理约束的反馈控制器。给出了差动驱动移动机器人MARI自主导航的仿真结果和一些实验特征。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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