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Path planning for cooperating unmanned vehicles over 3-d terrain

Path planning for cooperating unmanned vehicles over 3-d ter...

引用

international conference on informatics in control automation and robotics, ICINCO 2007

作者： Nikolos, Ioannis K. Tsourveloudis, Nikos C. Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete 73100 Chania Greece

ISBN: (纸本)9783540856399

In this paper we suggest an off-line/on-line path planner for cooperating unmanned vehicles that takes into account the mission objectives and constraints through an optimization procedure. The cooperating vehicles can be either Unmanned Aerial Vehicles (UAVs) or Autonomous Underwater Vehicles (AUVs);these two categories of vehicles share common features as far as path planning is concerned and these features are used in this work for the development of a unified approach to the path planning problem over 3-D terrains. A number of unmanned vehicles of the same category are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories (represented by 3-D B-Spline curves) that ensure a collision free path, respect the mission objectives and constraints, and guide the vehicles to a common final destination. The off-line planner is designed for known environments. The on-line one generates paths in unknown static environments, by exchanging acquired information from the cooperating vehicles' on-board sensors. For each vehicle a near optimum path is generated that guides it safely to an intermediate position within the already scanned area. The process is repeated for each vehicle until the final destination is reached by one or more members of the team. Then, each one of the remaining vehicles can either turn into the off-line mode to reach the target, moving through the already scanned area, or continue with the on-line mode. Both off-line and on-line path planning problems are formulated as optimization problems, and a Differential Evolution algorithm is used as the optimizer.

关键词： Autonomous underwater vehicles

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The analysis of adaptive system with reference model self-adjustment and control signal saturation

The analysis of adaptive system with reference model self-ad...

引用

IEEE international conference on Mechatronics and automation

作者： Alexander Lebedev Vladimir Filaretov Alla Nesenchuk Institute of Automation and Control Processes Robotics Laboratory Vladivostok Russia Laboratory of Computer Networks United Institute of Informatics Problems Minsk Belarus

The application of systems with reference model self-adjustment and control signal saturation in a task of second-order dynamic object with uncertain or varied parameters is considered in this paper. The features of system behaviour at different values of the control object and model coefficients are analyzed. The condition of a self-adjustment process stability are formulated containing the system and model parameters only. The best quality criteria of a control processes are determined. The method of a system error and time constant reduction by the increase of self-adjustment signal amplitude is offered.

关键词： Signal analysis Adaptive systems Programmable control Adaptive control Signal processing Process control control system synthesis Vehicle dynamics Stability Signal synthesis

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Virtual pheromones to control mobile robots. A neural network approach

Virtual pheromones to control mobile robots. A neural networ...

引用

IEEE international conference on automation and Logistics

作者： Ioan Susnea Grigore Vasiliu Adrian Filipescu Adriana Serbencu Adrian Radaschin Department of Automation and Industrial Informatics of the Dunarea de Jos University of Galati Romania

ISBN: (纸本)9781424447947

This paper introduces the concept of ldquovirtual pheromonesrdquo for use in controlling autonomous mobile robots. Virtual pheromones are stored in a map of the environment maintained by a ldquopheromone serverrdquo, which acts like a shared memory for all the agents. Autonomous agents communicate with the pheromone server by means of a radio communication link. A model of the virtual pheromone, which includes spatial diffusion and time decay through evaporation is proposed. The pheromone server can be embodied by a regular computer, a handheld device, or an embedded controller carried by a robot. Individual robots, and robotic swarms can be controlled this way. It is emphasized that the whole system, comprising the pheromone server, the communication system, and the robotic agents act like a neural network. This technique can lead to significant simplification of the task of controlling individual robots and robot swarms.

关键词： Robot control Mobile robots Neural networks informatics Robot sensing systems Communication system control robotics and automation Network servers Radio communication Embedded computing

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Laser-based navigation enhanced with 3D time-of-flight data

Laser-based navigation enhanced with 3D time-of-flight data

引用

IEEE international conference on robotics and automation (ICRA)

作者： Fang Yuan Agnes Swadzba Roland Philippsen Orhan Engin Marc Hanheide Sven Wachsmuth Applied Informatics Bielefeld University Bielefeld Germany Robotics and Artificial Intelligence Laboratory University of Stanford Stanford USA

Navigation and obstacle avoidance in robotics using planar laser scans has matured over the last decades. They basically enable robots to penetrate highly dynamic and populated spaces, such as people's home, and move around smoothly. However, in an unconstrained environment the two-dimensional perceptual space of a fixed mounted laser is not sufficient to ensure safe navigation. In this paper, we present an approach that pools a fast and reliable motion generation approach with modern 3D capturing techniques using a time-of-flight camera. Instead of attempting to implement full 3D motion control, which is computationally more expensive and simply not needed for the targeted scenario of a domestic robot, we introduce a ldquovirtual laserrdquo. For the originally solely laser-based motion generation the technique of fusing real laser measurements and 3D point clouds into a continuous data stream is 100% compatible and transparent. The paper covers the general concept, the necessary extrinsic calibration of two very different types of sensors, and exemplarily illustrates the benefit which is to avoid obstacles not being perceivable in the original laser scan.

关键词： Navigation Laser modes Orbital robotics Robot vision systems Cameras Motion control Robot sensing systems Motion measurement Clouds Calibration

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Optimization criterion for safety task transfer in cooperative robotics

Optimization criterion for safety task transfer in cooperati...

引用

international conference on Advanced robotics (ICAR)

作者： A. Hernansanz J. Amat A. Casals Research Group on Intelligent Robotics and Systems Technical University of Catalonia Barcelona Spain Institute of Robotics and Industrial Informatics Technical University of Catalonia Barcelona Spain Institute of Bioengineering of Catalonia Technical University of Catalonia Barcelona Spain

This paper presents a strategy for a cooperative multirobot system, constituting a virtual robot. The virtual robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the virtual robot must be transparent to the user, a control architecture has been developed.

关键词： Safety robotics and automation Multirobot systems Trajectory Robot vision systems Cameras Intelligent robots Service robots Robot control Motion planning

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Cooperative Q-learning based on learning automata

Cooperative Q-learning based on learning automata

引用

IEEE international conference on automation and Logistics

作者： Mao Yang Yantao Tian Xinyue Qi School of Communication Engineering Jilin University Changchun China

ISBN: (纸本)9781424447947

The theory of learning automata has already been applied in reinforcement learning which is characterized by single-agent and single-stage. This paper proposed a multi-robot cooperative Q-learning algorithm based on learning automata. Each robot updates probability for action selection through the learning automata constantly, and then converts the probability to special experience. Robots can accelerate the learning process by means of sharing experiences among each other. Simulation experiments verify the effectiveness of this algorithm.

关键词： Learning automata informatics Robot sensing systems Communication system control robotics and automation Robot control Mobile robots Neural networks Network servers Radio communication

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Design of linear quadratic optimal controller for bicycle robot

Design of linear quadratic optimal controller for bicycle ro...

引用

IEEE international conference on automation and Logistics

作者： Lei Guo Qizheng Liao Shimin Wei Yufeng Zhuang School of Automation Beijing University of Posts and Telecommunications Beijing China

ISBN: (纸本)9781424447947

The dynamic model of bicycle robot is similar to be linear model when it is moving at a high speed. Aiming at the goal of balancing bicycle robot with high speed, a kind of linear dynamic model of bicycle robot was presented based on a nonlinear dynamic model of bicycle robot. The open-loop stability was analyzed based on the linear dynamic model. And the controllability and observeability of the linear dynamic model was verified. Then the district time model of the bicycle robot was presented based on the continuous time linear model. Then a linear quadratic optimal controller was designed based on linear control theory for the linear dynamic model of bicycle robot. The computer simulation results show the efficiency of the control algorithm. It is practical for the real bicycle robot experiments in future.

关键词： Optimal control Robot control Bicycles informatics Robot sensing systems Communication system control robotics and automation Mobile robots Neural networks Network servers

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Decision support tool for resource allocation subject to imprecise data constraints

Decision support tool for resource allocation subject to imp...

引用

international conference on control and automation (ICCA)

作者： Grzegorz Bocewicz Zbigniew A. Banaszak Wojciech Muszynski Department of Computer Science and Management Technical University Koszalin Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland

This paper deals with resource allocation in multi-project manufacturing system design, where more than one shared renewable resource type may be required by the manufacturing operation and the availability of each type is time limited. The aim of the paper is to present a knowledge-based and constraint programming-driven approach to resource allocation where that data can be imprecise. The presented design scheme is used as a framework for developing a task oriented decision support tool for project portfolio prototyping (DST4P 3 ). The tool provides a prompt and interactive service to a set of routine queries defined in terms of both direct and inverse resource allocation tasks.

关键词： Resource management Production Fuzzy set theory Decision making Portfolios Decision support systems Electronic mail Logic programming Job shop scheduling Automatic control

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Gait control of modular climbing caterpillar robot

Gait control of modular climbing caterpillar robot

引用

IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： W. Wang H. X. Zhang K. Wang J. W. Zhang W. H. Chen Robotics Institute School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Dept of Informatics University of Hamburg Beijing Germany Department of Computer Science University of Hamburg Hamburg Germany Robotics Institute Beijing University of Aeronautics and Astronautics Beijing China Center of Electrical and Electronics Engineering Beijing University of Aeronautics and Astronautics Beijing China

The concept of a modular climbing caterpillar robot is inspired by the kinematics of the real caterpillar. Due to the fixed constraints between the suckers and wall, the gait of the caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain, and then to an open chain orderly. This paper investigates the joint control methods of the gait in detail. During the open chain periods, an Unsymmetrical Phase Method (UPM) is applied to ensure the reliable attachment of the passive suckers to the wall. But in the closed chain state, a four links kinematics model is adopted to fulfill the fixed constraints produced by the attached suckers. By combining the two methods together, we acquire complete joint control trajectories for a modular caterpillar robot with seven joints. At the end of this paper, on-site tests confirm the above principles and the validity of the climbing gait.

关键词： Legged locomotion Kinematics Climbing robots robotics and automation Mobile robots Intelligent robots Mechanical engineering Computer science Joining processes Tail

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Multi-sensor Autonomous Robot Based Manipulation of Valves for Process control

Multi-sensor Autonomous Robot Based Manipulation of Valves f...

引用

asia international conference on Modeling & Simulation

作者： Prabhakar Mishra H.N. Shankar Jayesh Sudhir Bhat Sumanth R. Kubair Sameera H. Bharadwaja S. Anudhan Divya Kamath Hundi Goutham Kamath Department of Telecommunication Engineering PES Centre for Intelligent Systems Bangalore India Department of Telecommunication Engineering PES Institute of Technology Bangalore India PES Institute of Technology Bangalore India

An autonomous robot finds applications in process industries to perform control operations such as manipulation of valves, especially in hazardous environments. This would require localization and mapping capabilities for efficient navigation, coupled with a dexterous arm for manipulation of the valves. Dynamic path planning and obstacle avoidance are the necessary requirements for autonomous navigation in the work area of a process industry. This paper presents a way to perform the above tasks using an autonomous robot having multi-sensory inputs, and using vision based inferences.

关键词： Valves Process control Navigation Service robots Robot vision systems Intelligent robots Humans Mechanical sensors robotics and automation Dead reckoning

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