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.
The proceedings contain 33 papers. The topics discussed include: interpretation of assembly task constraints from position and force sensory data;planning robot actions using multi-sensor input;scanline processing app...
The proceedings contain 33 papers. The topics discussed include: interpretation of assembly task constraints from position and force sensory data;planning robot actions using multi-sensor input;scanline processing approach to robot path planning using overlapping convex free regions;path planner with vision capability;task panel sensing with a movable camera;object- oriented nesting system on two-dimensional highly irregular resources;object-oriented approach to simulation of perception and navigation for mobile robots;and fast visual foothold finding for an autonomous bipedal robot.
Our goal is to identify an inexpensive, accurate, and safe system for obtaining digitized range data for use in a variety of object recognition tasks. In this paper we present initial results on the use of a non-colli...
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The article describes an extension to the well-established AI language Prolog. This allows Prolog to operate both an image processing system and a controller for a variety of electro-mechanical devices. The user can d...
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computervision technology offers potential application for automation of space operations. The merits of computervision and automation for earth bound operations are magnified when they are applied to space. Human i...
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To facilitate experiments in bipedal walking, we have developed a method for fast autonomous recognition of footholds marked by a distinctive color. An image patch is taken to be part of a foot-hold if its color is wi...
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This paper describes the implementation of a hierarchical robot simulation which supports the design of robots with vision and mobility. A seeing robot applies a classification expert system for visual identification ...
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In this paper, the advantages of using an object-oriented environment as a tool for general purpose simulation are discussed, emphasising its particular relevance for the simulation of perception and navigation for mo...
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The paper describes a problem of fatigue strength of optical fibe under dynamic conditions in robotics systems and a method for measuring the fatigue strength based on measurements of changes in the radiation power tr...
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A robot system that integrates the fusion of computer based voice recognition and computervision, as well as artificial neural networks and knowledge is discussed. Our goal is to develop a flexible system with a broa...
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