the detection of moving traffic participants is an essential intermediate step for higher level driving technology tasks. Regardless of the type of used sensors, dynamic environment modeling becomes even more difficul...
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ISBN:
(纸本)9789898565211
the detection of moving traffic participants is an essential intermediate step for higher level driving technology tasks. Regardless of the type of used sensors, dynamic environment modeling becomes even more difficult when the surrounding world is unstructured and heterogeneous. In such complex environments the representation system can be affected by noisy measurements, occlusions, wrong data association or unpredictable nature of the traffic participants. We propose a solution of representing the dynamic environment in real-time by using the pairwise alignment of free-form models and considering the advantages provided by a dense stereovision system. Instead of registering the whole 3D point cloud, our method is based on extracting and registering a more compact model of the environment taking into consideration the most visible object cells from the ego car. the proposed method is based on information provided by a Digital Elevation-Map, but can be easily adapted for other types of intermediate representations.
the concept of control of plants represented by (1) has been proposed. Using (2),(3),(4),(5) one can determine plant input U(t) forming its output as Y(T), where "new" time T depending on time-scale A(t) is ...
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ISBN:
(纸本)9781467321242
the concept of control of plants represented by (1) has been proposed. Using (2),(3),(4),(5) one can determine plant input U(t) forming its output as Y(T), where "new" time T depending on time-scale A(t) is defined by dT=A(t) dt, whereas Y(t) is plant "reference" output obtained for A=1. Signal A(t) is obtained as result of static operation A(t)=q(e(t)), where q(0)=0 and e(t) is control system error. the technical applications can base on MFC structure (Fig. 4). the idea of control is simple: if e(t)=A(t)=0, then model (2) is decoupled, values of its state variables and output y are conserved. Because Y follows y (Fig. 4), then changes of plant output are stopped too. If e(t)=A(t) not equal 0, then y and Y tend to reference signal y(o) and rate of follow-up action depends on q(e(t)). During this process the consecutive outputs of model and plant are y(T) and Y(T). thus, the "reference" response Y(t) defines Y(T). the impressive results illustrating properties of proposed concept are shown in Fig. 5,6. Application of described method simplifies the analysis of system dynamics and yields perfect results of follow-up action (lack of overshoots, short setting times). the idea for SISO case has been generalized to form enabling control of MIMO plants.
this paper investigates the combined use of ocean models, such as idealized surface current flows, and search models, including expanding area and discrete myopic search methods, to improve the probability of detectin...
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Stability of a system described by the time-varying nonlinear 3-D Fornasini-Marchesini model is considered. there are given notions of stability of the system and theorem for stability and asymptotic stability of the ...
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Stability of a system described by the time-varying nonlinear 3-D Fornasini-Marchesini model is considered. there are given notions of stability of the system and theorem for stability and asymptotic stability of the system which can be considered as the Lyapunov stability theorem extension for the system.
In this article we address the problem of expanding literature-known model of quadrotor dynamics and the benefits it brings. this extended model is used together with LQR controller to show the capability of controlle...
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In this article we address the problem of expanding literature-known model of quadrotor dynamics and the benefits it brings. this extended model is used together with LQR controller to show the capability of controlled flight and intuitive 3D trajectory composition.
Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Prop...
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Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.
A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then...
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A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly related to the Lyapunov condition.
Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modif...
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Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modified by the introduction of a time-varying forgetting factor. the modified AFFD is shown in simulations to provide an excellent approximation performance, both in terms of the modeling accuracy and robustness.
the paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural net...
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the paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural network and genetic algorithm and hybrid combine solution. the other part of paper contain review of solution concern crane workspace visualization techniques with obstacle identification for non-collision payload trajectory path planning. Presented solution was base on the image processing techniques, especially base on the stereovision technique.
the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the de...
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the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. the stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.
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