An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can ...
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ISBN:
(纸本)9789898565211
An approach for nonholonomic two-wheeled mobile robot trajectory tracking and obstacle avoiding is presented in this paper. If the desired trajectory is provided by high level planner, trajectory tracking problem can be solved in various ways. In this paper, tracking is provided using proportional-integral (PI) or fuzzy logic controller (FLC). Unfortunately, tracking is never perfect, due to uncertainties and obstacles can change their positions in time. In order to overcome these difficulties, additional correction controller must be used. Here is proposed fuzzy controller, which slightly changes control action of the tracking controller in order to prevent collision with obstacles. this approach is proved to be efficient even in dynamic environments. Simulation results are presented as illustration of the proposed approach.
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. their main properties are briefly presented. Algorithmic details incorpor...
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ISBN:
(纸本)9789897580390
Refined algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. their main properties are briefly presented. Algorithmic details incorporated in the developed solver are described. the results of an extensive performance investigation on a large collection of examples are summarized. Several numerical difficulties and observed unexpected behavior are reported. these algorithms are strongly recommended for improving the solutions computed by other solvers.
this paper discusses the problem of multi-robot exploration. the objective of this problem is to explore an unknown environment using a team of mobile robots in a minimum amount of time. We believe that in an unknown ...
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ISBN:
(纸本)9781424403417
this paper discusses the problem of multi-robot exploration. the objective of this problem is to explore an unknown environment using a team of mobile robots in a minimum amount of time. We believe that in an unknown environment, it is very difficult to estimate the amount of new information expected from a frontier location. We propose a new objective for the assignment algorithm and introduce a new cost function to be used in the assignment algorithm that leads to better motion planning. For the sake of simplicity, we suggest to use greedy algorithm for the assignment algorithm. In this paper, we also proposed a method for exploration problem with robots' limited communication capability, by estimating the missing robots' position, so that the outcome will not degrade significantly.
Deep Learning experiments commonly require hundreds of trials to properly train neural networks, often labeled as Big Data, while Bayesian learning leverages scarce data points to infer next iterations, also known as ...
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ISBN:
(纸本)9789897585227
Deep Learning experiments commonly require hundreds of trials to properly train neural networks, often labeled as Big Data, while Bayesian learning leverages scarce data points to infer next iterations, also known as Micro Data. Deep Bayesian Learning combines the complexity from multi-layered neural networks to probabilistic inferences, and it allows a robot to learn good policies within few trials in the real world. In here we propose, for the first time, an application of Deep Bayesian Reinforcement Learning (RL) on a realworld multi-robot confrontation game, and compare the algorithm with a model-free Deep RL algorithm, Deep Q-Learning. Our experiments show that DBRL significantly outperforms DRL in learning efficiency and scalability. the results of this work point to the advantages of Deep Bayesian approaches in bypassing the Reality Gap and sim-to-real implementations, as the time taken for real-world learning can quickly outperform data-intensive Deep alternatives.
By analyzing the configuration characteristics of 7-DOF space redundant manipulator and the advantages and disadvantages of different human-computer interaction modes, such as hand controller, visual camera, wearable ...
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An overview is given on the integration of product modeling with robot control. A method to enhance application of geometric and other product and production equipment related information in robot control is introduce...
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An overview is given on the integration of product modeling with robot control. A method to enhance application of geometric and other product and production equipment related information in robot control is introduced. Focus is on creation and application of model data information understandable by robot controls, on communication of model data with robot environments through the Internet, and finally on some related telerobotics issues.
Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be inter...
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ISBN:
(纸本)9789898565211
Passively compliant drives are interesting alternatives to classical stiff actuators in emerging fields like human- robot cooperation, service and rehabilitation robotics. Pneumatic muscles have been found to be interesting low-cost actuators for such purposes. To fully realize the (desired) higher sensitivity and at the same time maintain a good control quality, detailed models of the robot's own components are required. For pneumatic muscles, their hysteresis characteristic is a challenging property. In this paper we present a hysteresis model based on a Prandtl-Ishlinskii operator approach and evaluate the resulting performance when the inverse model is used for compensation in the position controller. the evaluation is done on a real multi-axes robot arm.
Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of...
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ISBN:
(纸本)9789898565709
Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of allowed values (e.g. minimal distance). the disadvantage of such an approach is that safety issues which were unconsidered at design time are not detectable. Furthermore, a detection of issues that are only indirectly measurable is difficult to realize. In this paper, a holistic safety monitoring approach is presented that makes use of all available sensor data and tries to find an implicit definition of "safety". By such an inverse approach vehicle safety issues which are hard to be directly measurable might be detectable, too. For instance, an identification of driver-initiated critical situations (e.g. caused by distraction) could be possible if taking multiple sensor modalities into account and having an implicitly defined "safe" state. Furthermore, the article describes the selection of potential test platforms and shows already collected test data of a mobile robot platform. Presented in this work-in-progress paper is the concept of definition, implementation, and detection of implicit vehicle safety.
In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to pro...
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ISBN:
(纸本)9789897581236
In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. the pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. the caudal fin actuator was inspired by Largemouth Bass, which uses sub-carangiform mode swimming and the caudal fin during steady swimming and maneuvering.
Many problems related to optimization, optimal control, numerical calculations, etc. have been investigated and solved for problems with free boundaries. the proposed work is devoted to the study of the problem with f...
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