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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

引用

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

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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Perceptual system for a mobile robot under a dynamic environment

Perceptual system for a mobile robot under a dynamic environ...

引用

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

作者： S. Hashimoto F. Kojima N. Kubota Department of System Function Science Graduate School of Science and Technology Kobe University Kobe Japan Interaction and Intelligence PRESTO Japan Science and Technology Corporation Japan Department of Human and Artificial Intelligent Systems Fukui University of Technology Fukui Japan

This paper deals with a perceptual system for a mobile robot under a dynamic environment. The mobile robot is controlled by the coupling mechanism of perceptual system and action system. Action system of the mobile robot is based on fuzzy controller. In the proposed approach, evolutionary computation is adopted to generate functions used for perceptual system which translates sensing information into perceptual information. The mobile robot can adapt to its dynamic environment by the translation using those functions without modifying current behavioral knowledge. The effectiveness of the proposal approach is demonstrated by computer experiments for obstacle avoidance problem under a dynamic environment which contains several obstacles.

关键词： Mobile robots Fuzzy systems control systems Fuzzy control Path planning Robot control Intelligent robots Robot sensing systems Evolutionary computation Motion planning

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Morphology and material property of a biped robot

Morphology and material property of a biped robot

引用

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

作者： K. Matsushita H. Yokoi R. Pfeifer Artificial Intelligence Laboratory University of Zurich Switzerland Complex Engineering System Hokkaido University Japan

In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a lightweight skeleton-actuation mechanism with 11 DOF motors, elastic limbs, and tendon-supported joints. The sensor system of this robot comprises pressure sensors on the sole and a posture sensor at the hip position. An adaptive neural oscillator is employed as a controller. This paper presents some preliminary analysis of a biped robot exploiting elastic materials. The goal of this research is to explore principles of bipedal locomotion in the context of elastic materials. The experimental result shows such non-linearity of elastic material has a significant relation to the locomotion.

关键词： Morphology Robot sensing systems Joints Sensor systems Elasticity Plastics Artificial intelligence Laboratories Hip Programmable control

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Design and real-time implementation of a control system for port AGV application

Design and real-time implementation of a control system for ...

引用

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

作者： Kok-Yong Lou Cher-Hiang Goh DSO National Laboratories Singapore

ISBN: (纸本)0780378660

This article presents the design and real-time implementation of a control system for an Automated Ground Vehicle (AGV) for use in port application. The control system consists of a Navigation System (NS) and a communication system (CS) that link the NS to the host computer. The design and development took about 4 years to complete of which 1.5 years were spent on the site trial testing of the design. The final design provides a AGV system with an accuracy of about /spl plusmn/1 cm. In this paper, we describes the overall system approach of the NS design and highlights the use of H/sub /spl infin// loop-shaping method for controller design and extended Kalman filter (EKF) for estimator design of the position sensors. The issues related to the implementation of the design using real-time embedded software are also discussed. We conclude the paper by presenting sample test results from the extensive site trials conducted. These trial results verify and demonstrate achieved system performance in term of position accuracy and maneuvers.

关键词： Real time systems control systems Automatic control Communication system control Application software Testing Land vehicles Navigation Design methodology Sensor phenomena and characterization

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Group formation of agents with two-dimensional inner state and one-to-one subjective evaluation

Group formation of agents with two-dimensional inner state a...

引用

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

作者： K. Naruse H. Yokoi M. Kinoshita Y. Kakazu Faculty of Engineering Hokkaido University Japan

In the field of multiple robot control and artificial life, group formation of agents, such as aggregation, distribution, lining and so on, is one of the important problems. The objective of this paper is to develop a mechanism of forming such an agent group. In the conventional system, an agent is set to follow predetermined rules such as Boid, or it has only an internal state. Therefore, the group of such the agents is limited to the shape of the group. However, we often form a group such that the shape of the group is almost the same but its characteristic is different, for example, a group that is easy to distribute and a group which is robust to a noise. For making such the group, in this paper, we set two-dimensional inner state in the agent, as well as subjective one-to-one evaluation. Then we investigate the characteristic of the proposed agent system.

关键词： Shape Psychology Robot control Noise robustness Noise shaping Information technology Sprites (computer) Game theory Decision making Humans

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Acquiring the positioning skill in a soccer game using a fuzzy Q-learning

Acquiring the positioning skill in a soccer game using a fuz...

引用

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

作者： T. Nakashima M. Udo H. Ishibuchi Department of Industrial Engineering Osaka Prefecture University Sakai Osaka Japan

In this paper, we propose a reinforcement learning method called a fuzzy Q-learning where an agent determines its action based on the inference result by a fuzzy rule-based system. We apply the proposed method to a soccer agent that tries to learn to intercept a passed ball, i.e., it tries to catch up with a passed ball by another agent. In the proposed method, the state space is represented by internal information that the learning agent maintains such as the relative velocity and the relative position of the ball to the learning agent. We divide the state space into several fuzzy subspaces. We define each fuzzy subspace by specifying the fuzzy partition of each axis of the state space. A reward is given to the learning agent if the distance between the ball and the agent becomes smaller or if the agent catches up with the ball. It is expected that the learning agent finally obtains the efficient positioning skill through trial-and-error.

关键词： State-space methods Fuzzy systems Learning Fuzzy control Pattern classification Industrial engineering Automatic control control systems Genetic algorithms Autonomous agents

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Development of a human-assist robotic system using distributed computing technology

Development of a human-assist robotic system using distribut...

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

作者： S. Jia K. Takase Graduate School of Information Systems University of Electro-Communications Japan

The population-aging problem is increasingly pressing the society. Thus, developing supporting system to improve care cost and the QoL of these elderly people is becoming particularly and timely important. Because of the dispersal of the elderly and disabled, a standard software sharing and improve the cost of writing and maintaining software is highly demanded. This paper proposes using distributing computing technology CORBA as communication architecture to integrate network distributed software and robotic systems to implement support system for the aged or disabled. Using CORBA as a communication architecture, we developed hardware base, user management server, task-level robot arm control server, live image feedback server, mobile robot control server and iGPS server, which can provide some basic care services to aid the aged and disabled. The developed system has the potential to improve the QoL of the aged or disabled and care cost in the future population-aging society.

关键词： Distributed computing Network servers Costs Software maintenance Aging Senior citizens Mobile communication Computer architecture Mobile robots Robot control

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Fusion of soft computing and hard computing techniques for power energy system

Fusion of soft computing and hard computing techniques for p...

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

作者： A. Kamiya K. Shimada M. Kato S. Kobayashi Department of Information Engineering Kushiro National College of Technology Japan Toshiba Corporation Japan Power and Industrial Systems Research and Development Center Toshiba Corporation Japan Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Japan

A power energy system normally consists of a number of power plants distributed over a wide area, connected by an electric power grid. Optimal operation of such a system involves the short-term load forecasting problem, the unit commitment problem and the start-up scheduling problem. All these problems are highly nonlinear and the optimization problems contain a number of local optima, making them difficult to solve by the conventional "hard computing" techniques alone. Thus, an approach based on a fusion of different types of techniques is required. This paper presents an overview of a fusion of soft computing and hard computing techniques, which the authors have developed so far aiming at achieving an optimal load dispatch and automatic power plant start-up control system.

关键词： Power generation Load forecasting control systems Optimal control Fossil fuels Power engineering computing Power systems Processor scheduling Power system economics Power generation economics

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Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers

Computer simulation of grasping and object-manipulation by a...

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

作者： J.-H. Bae K. Tahara S. Nakamura S. Arimoto Department of Robotics Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga Japan

This paper is concerned with computer simulation of concurrent grasp and orientation control of an object with two parallel flat surfaces by a pair of multi-degrees of freedom robot fingers that have rigid hemispherical ends. Firstly, geometrical relationships in the overall fingers-object system are discussed through four algebraic constraints between the finger tips and surfaces of the object. Then, differential algebraic equations expressing dynamics of the overall system are derived. Secondly, a sensory feedback signal for concurrent grasp and orientation control of the object is proposed and a full description of matrix form for numerically solving the closed-loop differential algebraic equation of the overall fingers-object system on the basis of the CSM (constraint stabilization method) is presented. Thirdly, simulation results of grasping and orientation control of the object are shown and then, the effects of each term of the proposed control input signal on the system performances are discussed. Finally, a guidance of gain tuning is suggested on the basis of well-known force-velocity characteristics of human muscle in muscle physiology.

关键词： Computer simulation Fingers Position control Differential algebraic equations Muscles Robot sensing systems Parallel robots Feedback Humans Physiology

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Cooperative behavior acquisition mechanism for a multi-robot system based on reinforcement learning in continuous space

Cooperative behavior acquisition mechanism for a multi-robot...

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

作者： T. Yasuda K. Ohkura T. Taura Department of Mechanical Engineering Faculty of Engineering Kobe University Kobe Hyogo Japan

This paper describes an approach to controlling an autonomous multi-robot system. One of the most important issues for this type of system is how to design an on-line autonomous behavior acquisition mechanism which is capable of developing each robot's role in an embedded environment. Our approach is applying reinforcement learning that uses Bayesian discrimination method for segmenting the continuous state and action spaces simultaneously. In addition to this, neural networks are provided for predicting the other robots' moves at the next time step in order to support the learning in a dynamic environment that originates from the other learning robots. The output signals are utilized as the sensory information for the reinforcement learning to increase the stability of the learning problem. A homogeneous multi-robot system is built for evaluation.

关键词： Multirobot systems Learning Orbital robotics Robot sensing systems control systems Stability computational intelligence Robotics and automation Mechanical engineering Bayesian methods

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