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Viability control for a class of underactuated systems

AUTOMATICA 2013年第1期49卷 17-29页

作者： Panagou, Dimitra Kyriakopoulos, Kostas J. Univ Illinois Coordinated Sci Lab Coll Engn Urbana IL 61801 USA Natl Tech Univ Athens Control Syst Lab Sch Mech Engn Athens Greece Natl Tech Univ Athens Control Syst Lab Dept Mech Engn Athens Greece

This paper addresses the feedback control design for a class of nonholonomic systems which are subject to inequality state constraints defining a constrained (viability) set K. Based on concepts from viability theory, the necessary conditions for selecting viable controls for a nonholonomic system are given, so that system trajectories starting in K always remain in K. Furthermore, a class of state feedback control solutions for nonholonomic systems are redesigned by means of switching control, so that system trajectories starting in K converge to a goal set G in K, without ever leaving K. The proposed approach can be applied in various problems, whose objective can be recast as controlling a nonholonomic system so that the resulting trajectories remain forever in a subset K of the state space, until they converge into a goal (target) set G in K. The motion control for an underactuated marine vehicle in a constrained configuration set K is treated as a case study;the set K essentially describes the limited sensing area of a vision-based sensor system, and viable control laws which establish convergence to a goal set G in K are constructed. The robustness of the proposed control approach under a class of bounded external perturbations is also considered. The efficacy of the methodology is demonstrated through simulation results. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Constraint satisfaction problems Constrained control Underactuated robots Nonholonomic control Robot control Convergent control Invariance Disturbance rejection Robust control

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Guest editorial emerging circuits and systems techniques for ultra-low power body sensor networks

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IEEE Journal on Emerging and Selected Topics in Circuits and Systems 2012年第1期2卷 1-3页

作者： Calhoun, Benton Chandrakasan, Anantha P. Otis, Brian Verma, Naveen Yoo, Hoi-Jun Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904 United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical Engineering University of Washington Seattle WA 98195 United States Department of Electrical Engineering Princeton University Princeton NJ 08540 United States Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 08540 Korea Republic of

This special issue brings together 11 papers on approaches spanning circuits, architectures, algorithms, and system design that demonstrates promising solutions to emerging critical problems in body sensor networks.

关键词： Special issues and sections Low-power electronics Body sensor networks

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Autonomous robot navigation using vision and sensor based algorithm

Autonomous robot navigation using vision and sensor based al...

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Conference on intelligent robots and computer vision XXIV - Algorithms, Techniques, and Active vision

作者： Bhandari, Susmita Mathis, Allison Mohiuddin, Kashif Pietrocola, David Restrepo, Maria Ahlgren, David J. Trinity Coll Dept Engn 300 Summit St Hartford CT 06106 USA

ISBN: (纸本)0819464821

ALVIN-vii is an autonomous vehicle designed to compete in the AUVSI intelligent Ground Vehicle Competition (IGVC). The competition consists of two events, the Autonomous Challenge and Navigation Challenge. Using tri-processor control architecture the information from sonar sensors, cameras, GPS and compass is effectively integrated to map out the path of the robot. In the Autonomous Challenge, the real time data from two Firewire web cameras and an array of four sonar sensors are plotted on a custom-defined polar grid to identify the position of the robot with respect to the obstacles in its path. Depending on the position of the obstacles in the grid, a state number is determined and a command of action is retrieved from the state table. The image processing algorithm comprises a series of steps involving plane extraction, morphological analysis, edge extraction and interpolation, all of which are statistically based allowing optimum operation at varying ambient conditions. In the Navigation Challenge, data from GPS and sonar sensors are integrated on a polar grid with flexible distance thresholds and a state table approach is used to drive the vehicle to the next waypoint while avoiding obstacles. Both algorithms are developed and implemented using National Instruments (NI) hardware and LabVIEW software. The task of collecting and processing information in real time can be time consuming and hence not reactive enough for moving robots. Using three controllers, the image processing is done separately for each camera while a third controller integrates the data received through an Ethernet connection.

关键词： autonomous robot image processing navigation sensors algorithm

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Experimental testbed and distributed algorithm for cooperative driving in vii simulation

Experimental testbed and distributed algorithm for cooperati...

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International Conference on intelligent Transportation

作者： Weihua Sheng Qingyan Yang Yi Guo School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA School of Electrical & Computer Eng. Oklahoma State University Stillwater OK System Division Iteris Inc. MI Dept. of Electrical & Computer Eng. Stevens Institute of Technology Hoboken NJ USA

This paper presents an experimental testbed to conduct research on vehicle infrastructure integration (vii) in intelligent transportation systems (ITS). A miniature robotic vehicle is developed and an overhead vision system is used to localize the vehicles. We first study the single lane tracking control algorithm. Then a distributed cooperative driving algorithm is developed to control multiple vehicles to drive through an intersection without collision. This platform can serve as a cost-effective testbed to study vehicle-to-vehicle communication based cooperative driving in intelligent transportation systems

关键词： Distributed algorithms intelligent transportation systems System testing intelligent vehicles Communication system control intelligent robots Robot vision systems Machine vision Vehicle driving Drives

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Self-localization method using two landmarks and dead reckoning for autonomous mobile soccer robots 1

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7th Robot World Cup Soccer and Rescue Competitions and Conference (ROBO CUP 2003)

作者： Motomura, A Matsuoka, T Hasegawa, T Kyushu Univ Grad Sch Informat Sci & Elect Engn Dept Intelligent Syst Higashi Ku Fukuoka 8120053 Japan

ISBN: (数字)9783540259404

ISBN: (纸本)3540224432

We propose a new method of self-localization using two landmarks and dead reckoning for a soccer robot equipped with an omnidirectional camera as a local vision sensor. This method requires low computational cost. Thanks to rapid process, the system can afford to run multiple localization process in parallel resulting robust and accurate localization. An experimental result in the field of Robocup Middle-size league indicates that the approach is reliable.

关键词： Sports

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Development of a graphical interface for robotic operation in a hazardous environment

Development of a graphical interface for robotic operation i...

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IEEE International Conference on Systems, Man and Cybernetics

作者： D.N. Rocheleau C.D. Crane Center of Intelligent Machines and Robotics University of Florida Gainesville FL USA

It has been shown through three demonstrations conducted between 1988 and 1990 that a graphics representation of a remote robotic system generated in real time is a practical and useful approach. The user is able to monitor accurately the actions of the remote system when it is executing an autonomous function and to intervene quickly to take direct control when needed. The computer architecture used in the program allows for the easy integration of multiple processes running on several different computers, and is seen as a truly significant aspect of this program.< >

关键词： Graphics Mobile robots Feedback Robot vision systems Cameras User interfaces Workstations US Department of Energy Humans Navigation

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intelligent robots and computer vision vii

Intelligent Robots and Computer Vision VII

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intelligent robots and computer vision vii 1988

The proceedings contain 80 papers. The topics discussed include: effects of lateral subtractive inhibition within the context of a polar-log spatial coordinate mapping;automated generation of concatenated arcs for curve representation;detection of oriented line segments using discrete cosine transform;circle parameter estimation from partial arcs;an efficient grid-based representation of arbitrary object boundaries;the engineering decision-making process;comparison of object-oriented and structured programming for image processing applications;can scale space filtering enhance fractal analysis?;and image compression in orthogonal spline space.

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A review of color vision and imaging

A review of color vision and imaging

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intelligent robots and computer vision vii 1988

作者： Turk, Matthew Massachusetts Institute of Technology United States

As an introduction to the session on color vision and multisensor processing, we review the physics of color imaging as well as fundamentals of human color perception. Alternative color representations motivated by both pattern classification and visual perception are discussed, as are classes of color algorithms used in scene segmentation. © 1989 SPIE. All rights reserved.

关键词： Color vision

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Integrating control structures into the Generalized Hough Transform

Integrating control structures into the Generalized Hough Tr...

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intelligent robots and computer vision vii 1988

作者： Rosiene, Joel A. Greenshields, Ian R. Department of Computer Science and Engineering University of Connecticut StorrsCT06268 United States Lincoln Laboratory LexingtonMA United States

关键词： Hough transforms

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Comparison of object-oriented and structured programming for image processing applications 7

Comparison of object-oriented and structured programming for...

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intelligent robots and computer vision vii 1988

作者： Pinson, Lewis J. University of Colorado Colorado SpringsCO80907 United States

The object-oriented paradigm offers a new approach to the development of software for image processing applications. The fundamental concept of the object-oriented paradigm is that problem solutions are implemented by sending messages to objects. This requires that the objects in a solution be defined along with messages to which each object will respond. This is in contrast to structured programming wherein one defines data structures and sends those data structures to a procedure as parameters.

关键词： Image processing Image sensors Software development Computing systems robots computer vision technology Robot vision Raster graphics computer programming Sun

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