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,...
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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.
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.
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.
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-p...
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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.
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 ...
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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
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. Tha...
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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.
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 m...
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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.< >
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 cur...
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.
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 bo...
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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...
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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.
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