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Formation coordination for self-mobile localization: Framework

Formation coordination for self-mobile localization: Framewo...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Hyo-Sung Ahn Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

ISBN: (纸本)9781424448081

In this paper we introduce a framework for self-mobile localization of a group of mobile agents via a novel formation coordination. The key idea of formation coordination is to make an agent move while fixing other agents as reference nodes. Since the mobile agent is connected to the fixed agents, it is localized during the movement. After the movement, the mobile agent is then fixed, and it is used as one of the reference nodes, while other agent is selected and switched to the next mobile agent. By repeating this process, all of the agents sequentially move being localized by aid from other agents. Simple simulation tests are conducted to illustrate the main idea of the formation coordination established in this paper.

关键词： Mobile agents Wireless sensor networks Mobile robots control systems Mobile communication Testing Multiagent systems Sensor systems Interpolation Information security

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An action pool architecture for multi-tasking service robots with interdependent resources

An action pool architecture for multi-tasking service robots...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Tapio Taipalus Aarne Halme Department of Automation and Systems Technology Helsinki University of Technology Helsinki Finland

ISBN: (纸本)9781424448081

We present a novel control architecture for execution of multiple tasks simultaneously. Traditionally, the task control architecture of a service robot has been focused on executing one task at a time. This has mainly been due to the history of mobility being the only function and tasks being so simple that just one or two abstract commands have been sufficient. During the last decade, these requirements have changed drastically and a more versatile operation is clearly required. Service robots commonly have physical subsystems such as manipulators and directable perception sensors that are not in use all the time. These task execution resources are dependent on the pose of the platform to which they are attached. Our architecture manages the concurrent use of these resources in order to achieve parallel task execution. We verify the architecture with experiments on two different robot platforms while performing concurrent tasks such as finding object, greeting people and taking pictures of a designated object. The proposed architecture can receive an arbitrary number of tasks to be executed at any time instant within limitations of computing resources.

关键词： Service robots Humans Computer architecture Robotics and automation Manipulators Animals Level control Robot sensing systems History Resource management

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An intelligent fuzzy controller based on genetic algorithms

An intelligent fuzzy controller based on genetic algorithms

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： M. Yousefi Azar Khanian A. Fakharian M. Godarzvand Chegini B. Jozi Electrical Computer and Biomedical Engineering Department Islamic Azad University Iran Islamic Azad University Tehran Tehran IR

ISBN: (纸本)9781424448081

In view of many applications, in recent years, there has been increasing interest in robot's control. Two intelligent controllers based on fuzzy logic and neural network are developed to trace the desired trajectory for a robot. A variety of evolutionary algorithms, have been proposed to approximately solve problems of common engineering applications. Increasingly common applications involve automatic learning of nonlinear mappings that govern the behavior of control systems. In many cases where robot control is of primary concern, the systems used to demonstrate the effectiveness of evolutionary algorithms often do not represent practical robotic systems. In this paper, genetic algorithms (GA) are the evolutionary strategy of interest. This procedure and the manner in which fuzzy controllers are codified into chromosomes is described. It is applied to learn fuzzy control rules for a practical autonomous vehicle steering control problem, namely, path tracking. GA handles the simultaneous evolution of membership functions and rule bases for the fuzzy path tracker. Simulation results show that the proposed fuzzy controller whose all parameters have been tuned simultaneously using GAs, offers advantages over existing controllers and has improved performance.

关键词： Fuzzy control Genetic algorithms Intelligent robots Robot control Automatic control Robotics and automation Evolutionary computation Intelligent control Intelligent networks Fuzzy logic

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Identification and verification of a MR damper using a nonlinear black box model

Identification and verification of a MR damper using a nonli...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： D. Q. Truong K. K. Ahn J. I. Yoon T. Q. Thanh School of Mechanical and Automotive Engineering University of Ulsan Ulsan South Korea Ho Chi Minh City University of Technology Vietnam Hochiminh City University of Technology Vietnam

Nowadays, magneto-rheological (MR) fluid dampers (MRD) are widely used for the semi-active suspension control in vibration community. However, the inherent nonlinear nature of the MRD causes challenges for damping control of the suspension system using this device with high performance. Therefore, the development of an accurate modeling method for a MRD is necessary to take advantage of its unique characteristics. This paper focuses on the development of a nonlinear black box model to identify and verify behaviors of a MR damper. The model is built by using an online self tuning fuzzy (OSTF) method based on neural technique. The behavior of the MRD is directly estimated through the box. A series of experiments and modeling analysis had been done on test rigs to validate the effectiveness of the design nonlinear black box in predicting the damping force.

关键词： Shock absorbers Damping Magnetic levitation Testing Fluid dynamics Hysteresis Parametric statistics Predictive models Vibration control Magnetic variables control

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A study on hierarchical modular reinforcement learning for multi-agent pursuit problem based on relative coordinate states

A study on hierarchical modular reinforcement learning for m...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Tatsuya Wada Takuya Okawa Toshihiko Watanabe Graduate School of Engineering Osaka Electro Communication University Neyagawa Osaka Japan Faculty of Engineering Osaka Electro Communication University Neyagawa Osaka Japan

ISBN: (纸本)9781424448081

In order to realize intelligent agent such as autonomous mobile robots, reinforcement learning is one of the necessary techniques in behavior control system. However, applying the reinforcement learning to actual sized problem, the ¿curse of dimensionality¿ problem in partition of sensory states should be avoided maintaining computational efficiency. In multi-agent reinforcement learning, the problem is emerged owing to the high dimensionality of each agent states. We apply the hierarchical modular reinforcement learning in order to deal with the dimensional problem and task decomposition. In this study, we focus on investigation of the learning performance of agent that represents the input states in relative coordinate system. We show effectiveness of proposed learning algorithm based on relative expressions with limited view through numerical experiments of the pursuit problem.

关键词： Learning Mobile robots Pursuit algorithms Intelligent agent Sensor systems Robot sensing systems Robot kinematics Intelligent robots Intelligent sensors computational efficiency

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Adaptive steering controller to improve handling stability for driver-combined-vehicles system

Adaptive steering controller to improve handling stability f...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Qiang Wang Masahiro Oya Natsuki Takagi Yuichiro Taira Hidetaka Ota Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Japan Department of Mechanical and Control Engineering National Fisheries University Shimonoseki Japan

ISBN: (纸本)9781424448081

If the dynamics of combined vehicles such as tractor-semitrailer varies greatly, it may be very difficult for inexperienced drivers to achieve good handling stability. Moreover, once combined vehicles become unstable, it is very difficult for all drivers to stabilize vehicles. However, if the behavior of actual combined vehicles tracks a designed desired combined vehicle, the good handling property can be maintained even when the dynamics of actual combined vehicles varies large. In this paper, to achieve good handling property even for large variation of vehicle dynamics, a design method for a desired combined vehicle is shown, and then, an adaptive steering controller is developed so that the actual vehicle tracks the desired vehicle. The developed adaptive steering controller has strong robustness for the uncertainties of vehicle parameters. Moreover, a driver model is introduced to show the characteristics of driver. Carrying out numerical simulations, it is shown that the developed adaptive steering controller is very useful for the driver-combined-vehicles system.

关键词： Programmable control Adaptive control control systems Stability Vehicle dynamics Vehicle driving Design methodology Robust control Uncertainty Numerical simulation

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Trajectory planning optimization with dynamic modeling of four wheeled omni-directional mobile robots

Trajectory planning optimization with dynamic modeling of fo...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Ehsan Hashemi Maani Ghaffari Jadidi Omid Bakhshandeh Babarsad Department of Mechanical and Industrial Engineering and Mechatronics Research laboratory MRL Qazvin Islamic Azad University Qazvin Iran Department of Mechanical and Industrial Engineering and Department of Electrical and Computer Engineering Mechatronics Research laboratory MRL Qazvin Islamic Azad University Iran

ISBN: (纸本)9781424448081

Path planning together with the tuning and determination of controller parameters are major concerns in omnidirectional mobile robots. Defining appropriate controller parameters in acceleration and deceleration to reach far and near target points without slippage is one of critical issues since some troubles due to unregulated velocities may greatly affect the ability of robot for the specified path planning and attaining the mentioned targets. A robot accurate kinematic and dynamic modeling and simulation accompanied by velocity and acceleration filtering are mainly discussed in this paper. Major changes and improvements in motion analysis, simulation and accuracy for the newly presented model and its efficiency are discussed in comparison with the previous simple kinematic modeling. Employing the new approach for robot dynamic modeling, particularly acceleration filtering, results in to the more precise robot control and achieving appropriate results.

关键词： Trajectory Mobile robots Acceleration Path planning Robot control Kinematics Filtering Velocity control Motion analysis Analytical models

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Dynamic state estimation using particle filter and adaptive vector quantizer

Dynamic state estimation using particle filter and adaptive ...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Takeshi Nishida Wataru Kogushi Natsuki Takagi Shuichi Kurogi Faculty of Engineering Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9781424448081

Particle filter (PF) is a method for discrete approximation of dynamic and non-Gaussian probability distribution by using numerous particles, and its procedure can execute at high speed and is suitable for on-line applications. However, in conventional methods, a weighted average value or a maximum weighted value of particles is used as a filter output, and information on most particles is disregarded. On the other hand, an adaptive vector quantization (AVQ) algorithm called competitive reinitialization learning (CRL) that can achieve high-speed adaptation without depending on initial conditions has been proposed. Then, in this research, a method for extracting information on shape of probability density distributions by combining PF with CRL is proposed. Moreover, a rapid adaptation performance and the robustness of the proposed method are shown by the simulations.

关键词： State estimation Particle filters Data mining Shape Information filtering Information filters Vector quantization Robustness Distortion measurement Bayesian methods

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Environment adaptive 3D object recognition and pose estimation by cognitive perception engine

Environment adaptive 3D object recognition and pose estimati...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Hyunjun Kim Jangwon Lee Sukhan Lee Intelligent Systems Research Center Sungkyunkwan University Suwon South Korea

ISBN: (纸本)9781424448081

In this paper, we propose novel evidence selection and collection method based on Bayesian theorem for object recognition and pose estimation in real environment. To recognize and estimate 3D object pose accurately, photometric and geometric evidences such as color blob, SIFT points and lines, can be utilized as single or multiple features in a sequence of images. However, to guarantee dependability in visual perception, the system have to cope with environmental variation that includes change of illumination, amount of texture, and distance to object. So, we made monitoring system to observe the change of environment. The main contribution of this paper is to develop and improve the recognition strategy by proper evidence selection and collection by using Bayesian rule that can be working robustly in various environmental conditions. The experimental results with a single stereo camera show the feasibility and effectiveness of the proposed method in an environment containing both textured and texture-less objects.

关键词： Object recognition Engines Fuzzy logic Mobile robots Learning control systems Fuzzy systems Fuzzy control Robot control Fuzzy sets

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FPGA based hardware in the loop test platform of small size UAV

FPGA based hardware in the loop test platform of small size ...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Ta-ming Shih Ho-chung Chang Department of Power Vehicle and System Engineering NDU CCIT Taoyuan Taiwan Graduate School of Defense Technology NDU CCIT Taoyuan Taiwan

ISBN: (纸本)9781424448081

Recently, there has been a need of small size UAV for vast applications in military and civilian applications as local area surveillance reconnaissance in hostile condition, damage assessment in natural disaster and remote sensing of harmful materials. UAV can finish missions without risking human life. However, applying low-cost sensors for flight control is of extreme challenge due to less accuracy nature of sensors. Therefore a Hardware-in-the-Loop(HIL) is most necessary for test and evaluation purpose to reduce the risk of flight testing. In this paper, a HIL system is built up to test the autopilot hardware performance, control parameter tuning. By building the dynamic model of airplane and combining the microcontroller and FPGA(Field Programmable Gate Array) based hardware interfaces, a 3D visualize HIL platform is built to improve test efficiency and reducing time and cost.

关键词： Field programmable gate arrays Hardware Testing Unmanned aerial vehicles Surveillance Reconnaissance Remote sensing Aerospace materials Humans Aerospace control

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