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Mobile robot simultaneous localization and mapping in unstructured environments

Mobile robot simultaneous localization and mapping in unstru...

引用

international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Tingting Wan Chongwei Zhang Wei Bao Mulan Wang School of Electric Engineering and Automation Hefei University of Technology Hefei China Jiangsu Province College Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China

This paper describes a method of mobile robot simultaneous localization and mapping (SLAM) based on laser range finder in unstructured environments. Considering drawbacks of the traditional iterative closest point (ICP) algorithm, matching laser range scans gets into local extrema when severe occlusions occur, the iterative dual closest point based on clustering (IDCP BoC) algorithm is proposed. Scan data are filtered and divided into clusters firstly, and then a procedure of reducing of data is conducted. The closest point (CP) rule is modified and dual closest point (DCP) rule is advanced when choosing the closest points. The reduced data is used for iterative computation before the error of two consecutive iterations' residual errors less than a preset threshold to speed up the algorithm, after that the data which is not reduced is used to guarantee the accuracy. Experimental results show that the method improves the accuracy of localization and mapping.

关键词： Mobile robots Simultaneous localization and mapping Iterative algorithms Clustering algorithms robot kinematics Iterative closest point algorithm robotics and automation Paper technology Iterative methods Orbital robotics

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Real-time Sound Signal Acquisition based on robot Auditory System

Real-time Sound Signal Acquisition based on Robot Auditory S...

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The 2nd IEEE international conference on Advanced Computer control(第二届先进计算机控制国际会议 ICACC 2010)

作者： Tao Chen Minglu Zhang Institute of Mechanical Engineering Hebei University of Technology Tianjin China

ISBN: (纸本)9781424458455

Signal acquisition based on multiple sensors is widely used in many applications, especially in robot with binaural auditory system. This paper provides one recording procedure with dual-caching and multithread technologies for unlimited time and synchronized sound signal collecting. Besides, in order to solve time delay in multiple recording, timer must be taken in system procedure. Furthermore, use normalized method to handle raw PCM (Pulse Code Modulation) before transmitted to MATLAB;at last, amount of signal data fragment without sound signal will be cut with dual-threshold endpoint detection method. Through experiments, signal segment containing valid sound data can be well extracted, in a large extent which can optimize the redundant data.

关键词： robot auditory system signal acquisition dual-caching multi-thread signal pre-processing

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Dynamics analysis and simulation of parallel robot Stewart platform

Dynamics analysis and simulation of parallel robot Stewart p...

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international conference on Computer and Automation Engineering, ICCAE

作者： Hamidreza Hajimirzaalian Hasan Moosavi Mehdi Massah Department Mechanical Engineering Islamic Azad University슠 Khomainishahr Iran Department Mechanical Engineering Isfahan University of Technology Isfahan Iran

ISBN: (纸本)9781424455690

The novelty of the paper is the comparison between the inverse dynamic solution based on Lagrangian formulation and the direct dynamic solution of the Stewart platform by simulation with ADAMS commercial engineering package. In this paper, based on the inverse kinematics, the Jacobian matrix and the dynamic equations of the six-degree-of-freedom Stewart platform are derived. The Inertia matrix and Coriolis-Centrifugal terms which are essential for control analyzing of this robot are also obtained. Finally, the results of the analytical solution using Lagrange method for a specific movement path which is simulated by ADAMS are compared and verified.

关键词： Analytical models Parallel robots Lagrangian functions Equations Jacobian matrices Mechanical engineering robot kinematics Leg Couplings Packaging

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A proposal on development of intelligent PSO based path planning and image based obstacle avoidance for real multi agents robotics system application

A proposal on development of intelligent PSO based path plan...

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international conference on Electronic Computer technology

作者： Abdullah Zawawi Mohamed Sang Heon Lee Mahfuz Aziz Hung Yao Hsu Wahid Md Ferdous Department of Advanced Manufacturing and Mechanical Engineering University of South Australia SA Australia

This is a proposal on combination of PSO based path planning by using data from odometry and on-board camera image based obstacle avoidance for real time multi-agents robotics system application. This is a system which is a robust yet low cost centralized control multi-agent system for various application especially indoor surveillance systems. PSO will help the robots to move towards the target and at the same time avoiding the obstacle.

关键词： Intelligent robots Proposals Intelligent agent Path planning robot vision systems Cameras Real time systems Robust control Costs Centralized control

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New potential functions for multi robot path planning : SWARM or SPREAD

New potential functions for multi robot path planning : SWAR...

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international conference on Computer and Automation Engineering, ICCAE

作者： Sung-hwan Kim Gyungtae Lee Inpyo Hong Young-Joo Kim Daeyoung Kim Department of Information and communication engineering Korea Advanced Institute of Science and Technology Daejeon Korea Department of Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea

ISBN: (纸本)9781424455690

Artificial Potential Field (APF) is widely used for an autonomous robot path planning and navigation because of light complexity and elegance of results. Although it is useful in single robot path planning, appropriate algorithm for multi-robot path planning has not been proposed. Existing APFs which can apply to multi-robot only regard robots as obstacles even if these robots are not obstacles, or focus on SWARM formation and moving. This paper proposes a multi-robot support APF by defining new potential functions: SWARM or SPREAD. This APF uses priority selection scheme between multi robots and calculates a new potential functions based on priority, and then solves local minimum problem in multi-robot APF which is a traditional problem of APF. Therefore this paper enables distributed path planning in multi-robot with real-time using suggested APF. All of these works are verified its effectiveness with simulation using Player/Stage simulator.

关键词： Path planning robot kinematics Orbital robotics Artificial intelligence Navigation Power generation Computer science Network topology robot control Intelligent robots

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Approach to controlling robot by artificial brain based on parallel evolutionary neural network

Approach to controlling robot by artificial brain based on p...

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international conference on Industrial Mechatronics and Automation, ICIMA

作者： Minghui Shi Wei Pan Hugo de Garis Keying Chen Artificial Brain Lab Cognitive Science Department Xiamen University Xiamen China Xiamen Huaxia Vocational College Xiamen China

ISBN: (纸本)9781424476534

A novel approach to building an intelligent robot, which can be expected to show many intelligent behaviors as people do, is proposed. This approach exploits a computer device called Tesla S1070, a personal supercomputer, to control a humanoid robot named NAO. The Tesla S1070 acts as a human head, in which thousands of artificial neural network, the basis of an artificial brain (AB), evolve in a parallel way and act as a human brain. The CUDA (Computing Unified Device Architecture) technology is employed to solve the key problem, i.e., how to improve the evolution speed of thousands of neural network. The general architecture of this approach, the reason why the Tesla S1070 is selected, and how the data structure of neural net modules should be modified to meet the demands of CUDA are presented in detail. This approach provides a method both for controlling a robot by the AB, and for demonstrating the power of the AB through a robot.

关键词： robot control Parallel robots Biological neural networks Artificial neural networks Intelligent robots Humans Computer architecture Artificial intelligence Intelligent structures Supercomputers

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Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot

Modal space decoupled controller for hydraulically driven si...

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international conference on Mechanical and Electronics Engineering (ICMEE)

作者： Peter O. Ogbobe Ye ZhengMao Jiang Hongzhou Chifu Yang Han Junwei School of Mechatronics Engineering Harbin Institute of Technology China

This paper proposes a modal space decoupling controller for the highly coupled six degrees of freedom parallel robot. It is based on singular value decomposition to the properties of the joint space inverse mass matrix, using an orthogonal unitary matrix. The method moreover, maps the control and feedback variables from the joint space to the decoupled modal space. Using this method, the highly coupled six-input-six-output dynamics of the parallel robot was transformed into six independent single inputs, single output one degree of freedom hydraulically driven mechanical system. The simulation result shows that the controller improved the trajectory performance more than the conventional PID controller in all DOF and eliminated the dynamic coupling effects.

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A Multi-Agent Systems model for rolling system based on Petri Nets

A Multi-Agent Systems model for rolling system based on Petr...

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international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Ye-qing Zhao Dao-fei Zhu Hua Wang Gui-hong Bi Faculty of Metallurgy and Energy Engineering Kunming University of Science and Technology Kunming China Faculty of Power Engineering Kunming University of Science and Technology Kunming China

Rolling process is a complex system. This paper analyzes the production process of rolling based on multi-agent technology, and generalizes four types agent, namely, travelling crane agent, heating furnace agent, buffer agent and rolling mill agent, which is devoted to the use of Petri Nets for modeling and describing of dynamic systems. Then, a Multi-Agent Systems (MAS) model is developed. Moreover, communication model is designed to prove that the MAS can exactly represent the actual situation. At last, the characteristics of the model are analyzed, and the behavior reasoning of running process of the MAS by task-driven of the model is done.

关键词： Multiagent systems Petri nets Problem-solving robotics and automation Humans Asia Informatics Automatic control robot control Power system modeling

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An efficient algebraic method for direct kinematics of the 5–6 Stewart platform

An efficient algebraic method for direct kinematics of the 5...

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international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Xiguang Huang Zuquan Hang Guangpin He Xiaolan Tan School of Mechanical and Electrical Engineering North-China University of Technology Beijing China

ISBN: (纸本)9781424451920;9781424451937

An algorithm for direct kinematics of the 5-6 Stewart platform is presented. We construct a set of fifteen 4 th degree equations in three unknowns and obtain the univariate polynomial of 20 th degree. Due to dual solutions of other unknowns, this indicates a maximum of 40 possible solutions. A numerical example is given to verify the effectiveness and the accuracy of the proposed algorithm.

关键词： Kinematics Polynomials robotics and automation Closed-form solution Nonlinear equations Leg Asia Informatics Automatic control robot control

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Handling temporal constraints in Workflow model for Planning and Scheduling

Handling temporal constraints in Workflow model for Planning...

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international Asia conference on Informatics in control, Automation and robotics, CAR

作者： Wanpeng Zhang Lin Wang Nan Wang Jing Chen Institute of Electromechanical Engineering and Automation National University of Defense Technology Changsha China

ISBN: (纸本)9781424451920

The integration of Planning and Scheduling (P&S) and Workflow is a significant challenge for knowledge acquisition in planning and scheduling. There has been some work on the definition of workflow that allowed non-experts entering knowledge on the organization process to be used in planning and scheduling. To date, however, temporal constraints handled in the workflow model for planning and scheduling has been little explored. This paper describes a means to exploit workflow patterns in modeling of planning and scheduling. And temporal constraints are presented and propagated on an associated Simple Temporal Network in order to check temporal consistency in the modeling phase. We also propose a graphic modeling tool. It helps users to modeling and acquiring knowledge conveniently.

关键词： robotics and automation technology planning Workflow management software Process planning Processor scheduling Asia Informatics Automatic control robot control Knowledge acquisition

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