A Linguistic Control Method for Posture Stabilization of Wheeled Mobile Robot

A linguistic control method based on motion description languages for posture stabilization of wheeled mobile robot is presented in this paper. In robotic systems control actions should be selected and executed by the triggering events. As a result, robotic systems typically possess a hierarchical structure, characterized by continuous variable dynamics at the lowest level and logical decision-making at the highest. Motion description languages, inspired by formal languages and automaton theory, serve as an abstraction between continuous and discrete control. Unlike traditional methods, the linguistic control method can be used to describe completely the interactions between robot and the environments in which it operates, and the complexity for steering a robot can also be measured quantitatively. The posture stabilization problem for wheeled mobile robots is studied and simulation results verify the validity of this method