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Trajectory planning and sliding-mode control based trajectory-tracking for cybercars

INTEGRATED COMPUTER-AIDED engineering 2007年第1期14卷 33-47页

作者： Solea, Razvan Nunes, Urbano Univ Coimbra Inst Syst & Robot P-3030290 Coimbra Portugal

Fully automatic driving is emerging as the approach to dramatically improve efficiency (throughput per unit of space) while at the same time leading to the goal of zero accidents. This approach, based on fully automated vehicles, might improve the efficiency of road travel in terms of space and energy used, and in terms of set-vice provided as well. For such automated operation, trajectory planning methods that produce smooth trajectories, with low level associated accelerations and jerk for providing human comfort, are required. This paper addresses this problem proposing a new approach that consists of introducing a velocity planning stage in the trajectory planner. Moreover, this paper presents the design and simulation evaluation of trajectory-tracking and path-following controllers for autonomous vehicles based on sliding mode control. A new design of sliding surface is proposed, such that lateral and angular errors are internally coupled with each other (in cartesian space) in a sliding surface leading to convergence of both variables.

关键词： TRAJECTORIES (Mechanics) AUTOMATIC control MOBILE robots ROBOTS robotics

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A hybrid feedback controller for car-like robots - combining reactive obstacle avoidance and global replanning

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INTEGRATED COMPUTER-AIDED engineering 2007年第1期14卷 3-14页

作者： Hentschel, Matthias Wulf, Oliver Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn D-30167 Hannover Germany

This paper presents a hybrid feedback controller for path control of autonomous mobile robots. The controller combines reactive obstacle avoidance with global path replanning, enabling collision-free navigation along a preplanned path. Avoidance of local obstacles is accomplished by reactively adjusting the vehicle's lateral deviation from the path trajectory. Global path replanning is performed to circumvent obstacles which cannot be avoided locally. In contrast to common approaches, this is done by searching the shortest feasible path returning to the initial trajectory beyond the obstacle. Following the description of the hybrid feedback controller, experimental results with speeds of up to 4 m/s will demonstrate the effectiveness of this approach.

关键词： FEEDBACK control systems AUTOMATIC control SERVOMECHANISMS MOBILE robots robotics

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Real-time computer modeling of weakness following stroke optimizes robotic assistance for movement therapy

Real-time computer modeling of weakness following stroke opt...

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3rd international IEEE/EMBS conference on Neural engineering

作者： Wolbrecht, Eric T. Chan, Vicky Le, Vu Cramer, Steven C. Reinkensmeyer, David J. Bobrow, James E. Univ Calif Irvine Dept Mech & Aerosp Engn Irvine CA 92697 USA Univ Calif Irvine Med Ctr Rehabil Serv Irvine CA 92697 USA Univ Calif Irvine Gen Clin Res Ctr Irvine CA 92697 USA Univ Calif Irvine Dept Mech & Aerosp Irvine CA 92697 USA Univ Calif Irvine Dept Biomed Engn Irvine CA 92697 USA

ISBN: (纸本)9781424407910

This paper describes the development of a novel control system for a robotic arm orthosis for assisting patients in motor training following stroke. The robot allows naturalistic motion of the arm and is as mechanically compliant as a human therapist's arms. This compliance preserves the connection between effort and error that appears essential for motor learning, but presents a challenge: accurately creating desired movements requires that the robot form a model of the patient's weakness, since the robot cannot simply stiffly drive the arm along the desired path. We show here that a standard model-based adaptive controller allows the robot to form such a model of the patient and complete movements accurately. However, we found that the human motor system, when coupled to such an adaptive controller, reduces its own participation, allowing the adaptive controller to take over the performance of the task. This presents a problem for motor training, since active engagement by the patient is important for stimulating neuroplasticity. We show that this problem can be solved by making the controller continuously attempt to reduce its assistance when errors are small. The resulting robot successfully assists stroke patients in moving in desired patterns with very small errors, but also encourages intense participation by the patient. Such robot assistance may optimally provoke neural plasticity, since it intensely engages both descending and ascending motor pathways.

关键词： robotics

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ICINCO 2006 - 3rd international conference on Informatics in control, Automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on Informatics in control, Automation and robotics, ICINCO 2006

ISBN: (纸本)9728865600

The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.

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ICINCO 2006 - 3rd international conference on Informatics in control, Automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on Informatics in control, Automation and robotics, ICINCO 2006

ISBN: (纸本)9728865597

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ICINCO 2006 - 3rd international conference on Informatics in control, Automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on Informatics in control, Automation and robotics, ICINCO 2006

ISBN: (纸本)9728865619

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S-Learning: A Biomimetic Algorithm for Learning, Memory, and control in Robots

S-Learning: A Biomimetic Algorithm for Learning, Memory, and...

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international IEEE/EMBS conference on Neural engineering, CNE

作者： Brandon Rohrer Intelligent Systems Robotics and Cybernetics Group Sandia National Laboratories Albuquerque NM USA

S-learning is a sequence-based learning algorithm patterned on human motor behavior. Discrete-time and quantized sensory information is amassed in real-time to form a dynamic model of the system being controlled and its environment. No explicit model is provided a priori, nor any hint about what the structure of the model might be. As the core of a Brain-Emulating Cognition and control Architecture (BECCA), S-Learning provides a mechanism for human-inspired learning, memory, and control in machines. In a simulation of a point-to-point reaching task, S-Learning demonstrates several attributes of human motor behavior, including learning through exploration and task transfer.

关键词： Biomimetics Robot control Libraries Humans Machine learning Sparse matrices Cognition Brain modeling Intelligent robots Computer architecture

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Autonomous control of real snake-like robot using reinforcement learning;Abstraction of state-action space using properties of real world

Autonomous control of real snake-like robot using reinforcem...

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Intelligent Sensors, Sensor Networks and Information Processing conference (ISSNIP)

作者： Kazuyuki Ito Yoshitaka Fukumori Akihiro Takayama Systems and Control Engineering Hosei University Koganei Tokyo Japan SERIO TOYO Group Bizen Okayama Japan

In this paper we consider autonomous control of a real snake-like robot using reinforcement learning. We focus on curse of dimensionality and lack of generality, and point out that the causes of the problems are not in learning algorithm but in neglect of properties of the real world. To solve the problems we propose new framework in which body of robot abstract general meaning by using properties of the real world as information processor. We apply the proposed framework for controlling a snake-like robot and confirm that the two problems are solved simultaneously, without changing learning algorithm at all. To demonstrate the effectiveness of the proposed framework experiments has been carried out.

关键词： Orbital robotics Learning Robot control control systems Animals control engineering Humans Adaptive control Abstracts Crawlers

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Improving the signal-to-noise ratio in recordings with thin-film longitudinal intra-fascicular electrodes using shielding cuffs

Improving the signal-to-noise ratio in recordings with thin-...

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international IEEE/EMBS conference on Neural engineering, CNE

作者： Milan Djilas Ken Yoshida Mathijs Kurstjens Christine Azevedo-Coste Laboratory of Computer Science Robotics and Microelectronics Montpellier France Department of Health Science and Technology Center for Sensory-Motor Interaction Aalborg Denmark

An elegant solution to the problem of instrumenting paralyzed limbs with artificial sensors for use with closed-loop FES systems is to use natural sensors, such as muscle afferent activity as feedback for the artificial controller. Longitudinal intra-fascicular electrodes (LIFEs) are electrodes that have shown promise in this application. As a peripheral nerve interface, they are designed to be placed inside the peripheral nerve, but near potentially active muscles and the stimulating electrode. Artefacts from EMG and stimulation remain limiting factors in signal acquisition. Here, we present a technique for improving the signal-to-noise ratio which consists of wrapping a shield around the implant site of the recording electrode. Preliminary results obtained during in-vivo experiments suggest that the shielding increases the level of the neural signal in the recordings.

关键词： Signal to noise ratio Transistors Electrodes Sensor systems Muscles Instruments control systems Electromyography Wrapping Implants

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Neurological and engineering approaches to human postural control

Neurological and engineering approaches to human postural co...

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3rd international conference on Informatics in control, Automation and robotics

作者： Tahboub, Karim Mergner, Thomas Ament, Christoph Palestine Polytech Univ Coll Engn & Technol Hebron Palestine Israel Univ Freiberg Neurol Univ Neuro Ctr D-79106 Freiberg Germany Univ Freiberg Microsyst Engn D-79110 Freiberg Germany

ISBN: (纸本)9728865600

This paper discusses the human postural control as a system engineering approach problem. Two main approaches are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion.

关键词： human postural control modem control neurological control

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