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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5313 条记录，以下是1711-1720 订阅

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A New Distributed Algorithm of Clock Synchronization for Static Sensor Networks 14

A New Distributed Algorithm of Clock Synchronization for Sta...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Qiao, Yong Yang, Wenlun Fu, Minyue Zhejiang Univ Sch Control Sci & Engn Hangzhou 310027 Zhejiang Peoples R China Univ Newcastle Sch Elect Engn & Comp Sci Callaghan NSW 2308 Australia

ISBN: (纸本)9781509035496

In this paper, a new distributed algorithm is presented to achieve the consensus of time variations and that of initial time simultaneously. By combining both controller and estimator design methods, it obtains higher synchronization precision with stronger robustness against noisy inputs resulted from crystal oscillators. Furthermore, the control input is ensured bounded to make our algorithm realizable in practical implementation. the implementation of the algorithm allows the receiving end to be event-triggered, while the transmitting end is executed periodically. the performance of the algorithm is illustrated by the given numerical simulations.

关键词： Crystal oscillators

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Research of Autonomous vision-Based Absolute Navigation for Unmanned Aerial Vehicle 14

Research of Autonomous Vision-Based Absolute Navigation for ...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Huang Lan Song Jianmei Beijing Inst Technol Sch Aerosp Engn Beijing Peoples R China

ISBN: (纸本)9781509035496

this paper makes research on two schemes of autonomous vision-based absolute navigation for Unmanned Aerial Vehicle (UAV): the Imaging Position of Landmark/Altimeter/IMU (IPLAI) based navigation, and the Imaging Position of Landmark/Optical Flow/Altimeter/IMU (IPLOFAI) based navigation. Firstly, the models of two autonomous vision-based absolute navigation systems are established. Secondly, the observability matrixes of two navigation systems are derived according to the differential geometric theory, and then the observability of the two navigation systems based on the condition number of the observability matrixes is carried on the quantitative analysis. thirdly, the corresponding navigation EKFs (Extended Kalman Filters) are designed to get the absolute position and velocity estimations of the UAV. At last, the correctness of the observability analysis and the designed navigation filters of the two navigation systems are verified through simulation experiment.

关键词： Unmanned aerial vehicle vision-based absolute navigation Observability Condition number Extended Kalman Filter

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Simultaneous Localization and Mapping Using Monocular Direct Method 14

Simultaneous Localization and Mapping Using Monocular Direct...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Meng, Chao Guo, Baiwei Liu, Xin Beijing Inst Technol Key Lab Dynam & Control Flight Vehicle Minist Educ Beijing Peoples R China

ISBN: (纸本)9781509035496

In this paper, we accomplish simultaneous localization and mapping using the monocular LSD-SLAM. this method is different with feature method, estimating the accurate and reconstructing the large scale environment map. Using the direct image alignment, the environment can be mapped in pose-graph of key frames semi-dense maps. the LSD-SLAM contains two advantage. A novel direct tracking method can definitely estimate the scale-drift. In addition, the probabilistic estimation can optimize the effect of noisy depth values on tracking. the experiment showed the LSD-SLAM is reliability, robustness and real-time

关键词： direct image alignment LSD-SLAM probabilistic estimation semi-dense maps

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A Target Tracking Realization Method of UAV Simulation Training System 14

A Target Tracking Realization Method of UAV Simulation Train...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Song, Kai Xu, Hong Ding, Yan Li, Hao Beijing Inst Technol Sch Aerosp Engn Minist Educ Key Lab Dynam & Control Flight Vehicle Beijing 100081 Peoples R China CAAA Beijing Peoples R China

ISBN: (纸本)9781509035496

In this paper, based on the virtual scene images generated by the Unity3D engine, a target tracking realization method in UAV(Unmanned Aerial Vehicle) simulation training system is proposed. To realize the target tracking steadily, the LOS(line of sight) tracking model utilizing the target pixel offset in the consecutive frame image and the velocity tracking model are established. Meanwhile, a digital integral algorithm is applied to reduce the errors of the tracking. the experimental results show that the method given in this paper can drive the virtual camera optical axis to keep the step of LOS and realize the target tracking efficiently.

关键词： UAV simulation training system Unity3D target tracking

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ILC Based Perimeter control For an Urban Traffic Network 14

ILC Based Perimeter Control For an Urban Traffic Network

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Ding, Ying Jin, Shangtai Yin, Chenkun Hou, Zhongsheng Beijing Jiaotong Univ Sch Elect & Informat Engn Adv Control Syst Lab Beijing Peoples R China

ISBN: (纸本)9781509035496

Macroscopic fundamental diagram (MFD) that describes traffic flow in an urban road network can be used to design perimeter control method to regulate the traffic flow from a macroscopic level. Most of the perimeter control algorithms are regarded as a kind of model-based feedback control method, whose performance is hardly to improve in practice due to the model uncertainty. By noticing the repetitive nature of urban traffic flow, an iterative learning control (ILC) based perimeter control method is proposed for an urban region. Since the repetitive information of the controlled system is fully utilized, an improved tracking performance is guaranteed by theoretical analysis, and simulation results verify the effectiveness of the proposed perimeter control method.

关键词： perimeter control macroscopic fundamental diagram (MFD) iterative learning control (ILC)

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Adaptive LQR Stabilization control of Reaction Wheel for Satellite Systems 14

Adaptive LQR Stabilization Control of Reaction Wheel for Sat...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Aydogan, Ahmet Hasturk, Ozgur Roketsan Missiles Ind Inc Adv Control Technol Ankara Turkey

ISBN: (纸本)9781509035496

Spacecrafts, which are used for stereoscopic mapping, imaging and telecommunication applications, require fine attitude and stabilization control which has an important role in high precision pointing and accurate stabilization. the conventional techniques for attitude and stabilization control are thrusters, reaction wheels, control moment gyroscopes (CMG) and magnetic torquers. Since reaction wheel can generate relatively smaller torques, they provide very fine stabilization and attitude control. Although conventional PID framework solves many stabilization problems, it is reported that many PID feedback loops are poorly tuned. In this paper, a model reference adaptive LQR control for reaction wheel stabilization problem is implemented. the tracking performance and disturbance rejection capability of proposed controller is found to give smooth motion after abnormal disruptions.

关键词： component reaction wheel stabilization control unscented kalman filter linear quadratic regulator

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Automated Global Planner for Cybernetic Transportation Systems 14

Automated Global Planner for Cybernetic Transportation Syste...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Vaca, Myriam Traver, Jose Emilio Milanes, Vicente Perez, Joshue Gonzalez, David Nashashibi, Fawzi Inria Paris Intelligent Transportat Syst KITS Team 2 Rue Simone IFF F-75012 Paris France

ISBN: (纸本)9781509035496

Nowadays, the development of Intelligent Transportation System (ITS) is increasing due to its versatility, adaptability and use of clean energy. there are a number of pass and on-going projects worldwide dealing with the different challenges and approaches to solve road transport-related issues. Some of them are dealing with the Cybernetic Transportation Systems (CTS), which is an urban mobility concept based on the automation of door-to-door transport systems i.e. the Cybercars as a two-passenger CTS. this paper presents the functional architecture of the CTSs and the development of an automated global planner. Specifically, a new approach that considers the automatization of the global planner stage, which allows path calculations and modifications in real time, considering on-demand stopping points. the experimental tests show a proper behaviour in our facilities at INRIA-Rocquencourt (France).

关键词： automation

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Distance Measurement of Underwater Target Based on Stereo vision

Distance Measurement of Underwater Target Based on Stereo Vi...

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Sen Lin Wentao Li Cong Wang Yandong Tang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

An underwater object location method based on binocular stereo vision and artificial auxiliary interaction is proposed. Firstly, the calibration principle and basic model of binocular stereo vision are given, and the relationship between binocular disparity and depth is deduced in detail. then, a special underwater camera (Nano SeaCam) is used, and we can calibrate the camera directly underwater. After that, the parameters of the camera are obtained to rectify the underwater images. Further, according to the characteristics of underwater ROV (Remote Operated Vehicle), we use the method of artificial interaction to select the corresponding pixels of left and right view images, and then use the distance measurement algorithm to calculate the target distance. the experimental results show that this method can achieve the proper effect of measuring distance underwater, and the accuracy can meet the practical requirements, which is feasible and efficient.

关键词： Cameras Distance measurement Calibration Distortion Optical imaging Stereo vision Laser radar

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Investigation and Performance Analysis of OpenVX Optimizations on Computer vision Applications 14

Investigation and Performance Analysis of OpenVX Optimizatio...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Dekkiche, Djamila Vincke, Bastien Merigot, Alain Univ Paris Saclay Univ Paris Sud CNRS SATIE F-94235 Cachan France

ISBN: (纸本)9781509035496

the development of Advanced Driver Assistance Systems (ADAS), such as pedestrian detection, requires real-time update rates at high image resolution. Hopefully, heterogeneous architectures with high computing performance have been developed for this purpose. To benefit from this hardware performance, different programming languages and acceleration frameworks have been developed. OpenVX framework provides a graph-based execution model to program image processing algorithms on heterogeneous platforms. In this work, we investigate OpenVX optimizations for computer vision applications. We examine how this framework responds to different data access patterns. We test three important optimizations of OpenVX: kernels merge, data tiling and parallelization via OpenMP. the contribution and the impact of each optimization on different data access pattern are explained.

关键词： Advanced driver assistance systems

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Distributed Neuro-Adaptive control of Multi-Agent Systems and its Application in Micro-grids 14

Distributed Neuro-Adaptive Control of Multi-Agent Systems an...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Haoyang Huang, Tao Huang, Junhao Ma, Tiedong Chongqing Univ Coll Automat Chongqing Peoples R China

ISBN: (纸本)9781509035496

In this paper, the distributed control of micro-grids is regarded as the consensus problem for a class of nonlinear multi-agent systems. An effective distributed adaptive control strategy is proposed based only on local information of the network structure. Dynamics of agents are assumed to be unknown and estimated by Neural Networks. the leader is ultimately followed by the followers with bounded synchronization error. To verify the effectiveness of the cooperative tracking adaptive controller, one simulation in micro-grid system is given finally.

关键词： micro-grid system nonlinear multi-agent systems distributed cooperative control neural adaptive control

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