This paper presents a Bayesian approach to the problem of searching for a single lost target by a single autonomous sensor platform. The target may be static or mobile but not evading. Two candidate utility functions ...
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ISBN:
(纸本)3540328017
This paper presents a Bayesian approach to the problem of searching for a single lost target by a single autonomous sensor platform. The target may be static or mobile but not evading. Two candidate utility functions for the control solution are highlighted, namely the Mean Time to Detection, and the Cumulative Probability of Detection. The framework is implemented for an airborne vehicle looking for both a stationary and a drifting target at sea. Simulation results for different control solutions are investigated and compared to demonstrate the effectiveness of the method.
In this paper, we propose a collision avoidance algorithm for two nonholonomic tracked mobile robots transporting a single object based on a function-allocation concept. In this algorithm, a leader robot is controlled...
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ISBN:
(纸本)3540328017
In this paper, we propose a collision avoidance algorithm for two nonholonomic tracked mobile robots transporting a single object based on a function-allocation concept. In this algorithm, a leader robot is controlled manually. A follower robot estimates the desired trajectory of the leader along its own heading direction and generates the motion for transporting the object and for avoiding obstacles by using an omni-directional vision sensor. We experimentally implement the proposed algorithm in a tracked mobile robots system, and illustrate the validity of the proposed control algorithm.
In the paper we consider skilled tasks that are performed by a human-like robot in outdoor unstructured environment when working interactively with a human operator. As skilled tasks we understand tasks, which - like ...
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ISBN:
(纸本)3540328017
In the paper we consider skilled tasks that are performed by a human-like robot in outdoor unstructured environment when working interactively with a human operator. As skilled tasks we understand tasks, which - like when humans perform them - are non-trivial and demand learning or training. Typically such tasks may also fail and require several trials to be successfully executed. Performing requires use of senses and development of a unique mini-plan, which takes into account the present situation. The mini-plan, which may also be called "skill", produces a sequence of unit operations needed for successful performing of the task. The paper discusses preliminary experiences on implementing and experimenting such skilled tasks with a mobile centaur-like service robot.
This paper presents a new wall-following algorithm for reactive navigation. It is based upon constrained active contours in a repulsive potential field. The development of this algorithm was initiated by the need for ...
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ISBN:
(纸本)3540328017
This paper presents a new wall-following algorithm for reactive navigation. It is based upon constrained active contours in a repulsive potential field. The development of this algorithm was initiated by the need for robust and efficient software for the navigation of large underground autonomous vehicles.
The problem of planning reference trajectories for agricultural machines is considered. A path planning algorithm to perform various kinds of farm-works is described. The case of convex fields is first considered. A d...
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ISBN:
(纸本)3540328017
The problem of planning reference trajectories for agricultural machines is considered. A path planning algorithm to perform various kinds of farm-works is described. The case of convex fields is first considered. A direction of work being given, the algorithm determines the turning areas and selects a trajectory which guarantees the complete field coverage while minimizing overlapping. The method is extended to the case of fields with more complex shape including possibly obstacles. Simulations are proposed to illustrate the reasoning.
This paper introduces the Autonomous Vehicle Project (AVP) at the ANU together with a discussion and an example of driver assistance systems. A set of necessary core competencies of such a system is identified and in ...
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ISBN:
(纸本)3540328017
This paper introduces the Autonomous Vehicle Project (AVP) at the ANU together with a discussion and an example of driver assistance systems. A set of necessary core competencies of such a system is identified and in particular a system for force-feedback in the steering wheel when departuring from a lane is presented. A system like this is likely to reduce accidents due to driver fatigue since unintentional lane changes become more difficult. The presented system utilises a robust lane tracker which is experimentally evaluated for the purpose of driver assistance.
After the debut of SDR-3X, SDR-4X made a stage appearance in 2002. It remains a small humanoid type robot and is expanding its capabilities of adaptability in home environment. Some of the new key technologies have be...
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ISBN:
(纸本)3540328017
After the debut of SDR-3X, SDR-4X made a stage appearance in 2002. It remains a small humanoid type robot and is expanding its capabilities of adaptability in home environment. Some of the new key technologies have been developed for SDR-4X. One is a Real-time Integrated Adaptive Motion Control. Another technology is a motion creating software system called "SDR Motion Creator" which allows to create and develop SDR's attractive motion performances. In addition, speech synthesis and singing voice production are also developed for enhancement of entertainment applications. A cappella chorus performance and high-tempo dance performance are introduced as the attractive applications.
Most research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. In this paper, a new approximate Jacobian adaptive controller is proposed for trajectory trac...
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ISBN:
(数字)9783540330141
ISBN:
(纸本)3540288163
Most research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. In this paper, a new approximate Jacobian adaptive controller is proposed for trajectory tracking of robot with uncertain kinematics, dynamics and actuator model. Experimental results are presented to illustrate the performance of the proposed controller.
In this paper, we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-filting camera, off-the-shelf computer hardware and ...
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ISBN:
(纸本)3540288163
In this paper, we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-filting camera, off-the-shelf computer hardware and inertial sensors. Compared to existing methods, the system doesn't depend oil additional sensors (in particular not on GPS), offers a wide envelope of starting points for the autonomous approach, and is robust to different weather conditions. Helicopter position and attitude is estimated from images of a specially designed landing pad. We provide results from both simulations and flight tests, showing the performance of the vision system and the overall quality of the landing.
This paper presents a kinematic and force analysis of a mobile robot built on the principle of parallel mechanisms. The robot consists of an upper plate connected to 3 legs, each equipped with an asynchronous driving ...
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ISBN:
(纸本)3540328017
This paper presents a kinematic and force analysis of a mobile robot built on the principle of parallel mechanisms. The robot consists of an upper plate connected to 3 legs, each equipped with an asynchronous driving unit. A kinematic model for the robot provides data for accurate position estimate, even in rough and slippery terrains where conventional odometry fails. The paper presents an analysis of the forces acting on the robot under various surface conditions and robot configurations. This analysis provides useful data to determine whether a specific motion can be completed given the limitations on stability, the geometry and friction of the surface, and the required motion direction. The paper presents simulation results that are verified by experiments using our prototype model.
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