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A Real World Coordination Framework for Connected Heterogeneous robotic systems 11

11th International Symposium on Distributed autonomous robotic systems (DARS)

作者： Bezzo, Nicola Anderson, Mike S. Fierro, Rafael Wood, John Univ New Mexico Dept Elect & Comp Engn Albuquerque NM 87131 USA Univ New Mexico Dept Mech Engn Albuquerque NM 87131 USA

ISBN: (纸本)9783642551468;9783642551451

In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities, to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several advantages when cost, integration of capabilities, or possible large search areas need to be considered. A heterogeneous team allows for the robots to become "specialized", accomplish sub-goals more effectively, thus increasing the overall mission efficiency. We consider connectivity constraints and realistic communication, exploiting mobility to implement a power control algorithm that increases the Signal to Interference plus Noise Ratio (SINR) among certain members of the network. We also create realistic sensing fields and manipulation by using the geometric properties of the sensor field-of-view and the manipulability metric, respectively. The control strategy for each agent of the heterogeneous system is governed by an artificial physics law that considers the different kinematics of the agents and the environment, in a decentralized fashion. We show that the network is able to stay connected at all times and covers the environment well. We demonstrate the applicability of the proposed strategy through simulation results implementing a pursuit-evasion game in a cluttered environment.

关键词： Signal to noise ratio

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Navigation control of a mobile robotic system in semi-structured and dynamic environment for controlled dose delivery of pesticides

Navigation control of a mobile robotic system in semi-struct...

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International Conference on Trends in Automation, Communications and Computing Technology

作者： Manoj Kumar Patel Hemant Kumar Sahoo Chiranjiv Singh Kathuria Manoj Kumar Nayak Aneesh Singla C Ghanshyam AcSIR-CSIO Chandigarh 160 030 CSIR-CSIO Chandigarh 160 030 CSIR-CSIO Chandigarh 160 030 INDIA Thapar University Patiala Punjab 147 004 INDIA

ISBN: (纸本)9781467366687

A major portion of the autonomous mobile robotics research has been in the development of reliable means for navigation and control of autonomous systems in a complex, irregular, unstructured and dynamic environment for farm duties such as seeding, pruning, pesticide spraying, reaping etc. Several practices have been established by numerous researchers in the motion planning of mobile robots. This paper presents an ultrasonic multi-sensor fusion based technique for navigation and control of the autonomous mobile robotic system for collision avoidance, target detection and canopy mapping. The autonomous system is a combination of real time monitoring and navigation, detection of the target and canopy mapping which delivers controlled dose of pesticide in a targeted manner according to the information gathered from the sensory attributes of precision farming data set through online and real time monitoring of the objects. Real time monitoring and navigation control, complex algorithm, data acquisition and storage, calculation and processing are designed with motors and sensors interfaced with microcontroller. Test results showed that the ultrasonic sensor fusion technique was capable of performing satisfactory guidance in dynamic environment and desired paths. The sensor fusion navigation was capable of compensating large error and resulting in satisfactory agricultural vehicle guidance.

关键词： Navigation control Multi-sensor fusion Canopy Mapping Precision Farming Data Set (PFDS) Precision Agriculture Data Set (PADS)

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fusion of navigation solutions from different navigation systems for an autonomous underwater vehicle

Fusion of navigation solutions from different navigation sys...

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3rd International Conference on Advances in control and Optimization of Dynamical systems, ACODS 2014

作者： Awale, Vaibhav G. Hablani, Hari B. Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9783902823601

This paper considers the vehicle navigation problem for an autonomous underwater vehicle (AUV) with six degrees of freedom. We approach this problem using an error state formulation of the Kalman filter. Integration of the vehicle's high-rate inertial measurement unit's (IMU's) accelerometers and gyros allow time propagation while other sensors provide measurement corrections. The low-rate aiding sensors include a Doppler velocity log (DVL), an acoustic long baseline (LBL) system that provides round-trip travel times from known locations, a pressure sensor for aiding depth, and an attitude sensor. Measurements correct the filter independently as they arrive, and as such, the filter is not dependent on the arrival of any particular measurement. Different navigation systems are constructed each consisting of a particular set of sensors. The navigation solution from all these systems is fused using decentralized Kalman filtering approach. autonomous operation requires that there is to be no sharing of measurement information among local filters. Simulation results are provided. © 2014 IFAC.

关键词： Extended Kalman filters

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Robust real-time optimal autonomous highway driving control system: Development and implementation 19

Robust real-time optimal autonomous highway driving control ...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Lee, Seung-Hi Son, Youngseop Chung, Chung Choo Div. of Electrical and Computer Engineering Hanyang University Korea Republic of Global R and D Center MANDO Corporation Korea Republic of

ISBN: (纸本)9783902823625

This paper develops a systems approach for robust real-time optimal autonomous driving control system development. An autonomous vehicle control system framework is proposed to dissect an automotive system into some sub-systems in which physical systems and control softwares are communicating. To attain robustness, a robust on-road vehicle localization scheme is proposed applying multi sensor-data fusion with the results of multirate decentralized state estimation and the clothoidal road model constraint. control block and control block topology are proposed to utilize block-wise perception of environment and vehicle localization and to produce a trajectory command via a virtual lane curve for longitudinal/lateral vehicle control. To attain real-time control optimality, we apply the multilevel approximate predictive control developed by the authors. Performance of the proposed autonomous driving control system is demonstrated through some track test results. © IFAC.

关键词： State estimation

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Robust Real-time Optimal autonomous Highway Driving control System: Development and Implementation

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IFAC Proceedings Volumes 2014年第3期47卷 10706-10712页

作者： Seung-Hi Lee Youngseop Son Chung Choo Chung Div. of Electrical and Computer Engineering Hanyang University Korea Global R&D Center MANDO Corporation Korea

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A Practical Method for Implementing an Attitude and Heading Reference System

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INTERNATIONAL JOURNAL OF ADVANCED robotic systems 2014年第4期11卷 62-62页

作者： Munguia, Rodrigo Grau, Antoni Univ Guadalajara CUCEI Dept Comp Sci Guadalajara Jalisco Mexico Tech Univ Catalonia Dept Automat Control Barcelona Spain

This paper describes a practical and reliable algorithm for implementing an Attitude and Heading Reference System (AHRS). This kind of system is essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms are required for performance to be acceptable. The proposed method is based on an Extended Kalman Filter (EKF) in a direct configuration. In this case, the filter is explicitly derived from both the kinematic and error models. The selection of this kind of EKF configuration can help in ensuring a tight integration of the method for its use in filter-based localization and mapping systems in autonomous vehicles. Experiments with real data show that the proposed method is able to maintain an accurate and drift-free attitude and heading estimation. An additional result is to show that there is no ostensible reason for preferring that the filter have an indirect configuration over a direct configuration for implementing an AHRS system.

关键词： Attitude Estimation sensor fusion Vehicle Navigation Inertial Measurement Kalman Filtering

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Fuzzy controller Based Subsumption Behavior Architecture for autonomous robotic Wheelchair

Fuzzy Controller Based Subsumption Behavior Architecture for...

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International Conference on Advanced robotics and Intelligent systems (ARIS)

作者： Zal, Fahmi Chen, Ting-Shuo Chi, Shou-Wei Kuo, Chung-Hsien Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei Taiwan

ISBN: (纸本)9781479901005;9781479900985

This paper presents the design and implementation of fuzzy controller based subsumption behavior architecture for controlling an autonomous robotic wheelchair. Behaviors of autonomous robotic wheelchair generally developed with one or more basic behaviors such as goal seeking, wall following, obstacle avoidance and finding target based on different environmental conditions. Therefore, to maximize the navigation performance, fuzzy controller based subsumption behavior architecture is proposed as a sensor fusion algorithm and to find most suitable robotic wheelchair behavior according to environment condition. The arbitrate competition is used to decide which behavior controller has a higher priority, then robotic wheelchair can be controlled by the highest priority behavior during the robotic wheelchair movement towards the goal or target. In order to verify our approach, a robotic wheelchair is controlled with a microcontroller for motion control and sensors information acquisition, personal computer connects to a web-camera for visual localization. The experiment of simulation and test results were presented to show the validity of the proposed method.

关键词： fuzzy logic controller navigation robotic wheelchair subsumption behavior architecture

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Directions Toward Effective Utilization of Tactile Skin: A Review

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IEEE sensorS JOURNAL 2013年第11期13卷 4121-4138页

作者： Dahiya, Ravinder S. Mittendorfer, Philipp Valle, Maurizio Cheng, Gordon Lumelsky, Vladimir J. Univ Glasgow Elect & Nanoscale Engn Res Div Glasgow G12 8QQ Lanark Scotland Tech Univ Munich Inst Cognit Syst D-80333 Munich Germany Univ Genoa DITEN I-16145 Genoa Italy Univ Wisconsin Madison WI 53706 USA Univ Maryland College Pk MD 20740 USA

A wide variety of tactile (touch) sensors exist today for robotics and related applications. They make use of various transduction methods, smart materials and engineered structures, complex electronics, and sophisticated data processing. While highly useful in themselves, effective utilization of tactile sensors in robotics applications has been slow to come and largely remains elusive today. This paper surveys the state of the art and the research issues in this area, with the emphasis on effective utilization of tactile sensors in robotic systems. One specific with the use of tactile sensing in robotics is that the sensors have to be spread along the robot body, the way the human skin is -thus dictating varied 3-D spatio-temporal requirements, decentralized and distributed control, and handling of multiple simultaneous tactile contacts. Satisfying these requirements pose challenges to making tactile sensor modality a reality. Overcoming these challenges requires dealing with issues such as sensors placement, electronic/mechanical hardware, methods to access and acquire signals, automatic calibration techniques, and algorithms to process and interpret sensing data in real time. We survey this field from a system perspective, recognizing the fact that the system performance tends to depend on how its various components are put together. It is hoped that the survey will be of use to practitioners designing tactile sensing hardware (whole-body or large-patch sensor coverage), and to researchers working on cognitive robotics involving tactile sensing.

关键词： Tactile skin interface electronics modular embedded systems sensor fusion bendable electronics

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A Cost Effective Motion Platform for Performance Testing of MEMS-Based Attitude and Heading Reference systems

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JOURNAL OF INTELLIGENT & robotic systems 2013年第1-4期70卷 411-419页

作者： Wachter, Zachary Univ S Carolina Dept Mech Engn Columbia SC 29208 USA

An accurate attitude and heading reference system (AHRS) is a key component to ensuring safe and reliable flight of unmanned aerial vehicles (UAVs). Recently, much attention has been given to developing AHRS using inertial sensors based on microelectromechanical sytems (MEMS). These MEMS-based AHRS are low-cost, lightweight, and consume little power. However, the advantages of inexpensive MEMS sensors are coupled with the drawback of having greater potential error in reported roll, pitch, and yaw angles due to increased sensor noise and drift. To minimize this error, advanced sensor fusion techniques such as Kalman Filtering are commonly implemented. Testing these techniques, and the AHRS as a whole, is therefore a crucial part of the performance optimization process. This paper outlines the development of an inexpensive 3-axis motion platform for AHRS calibration and testing that replicates aircraft motions from actual UAV flights, or from a flight simulator. To accomplish this, custom LabVIEW control software was developed to process time-stamped aircraft orientation data. Commands were then sent through a microcontroller to the motion platform, which reconstructs the flights with high precision (R-2 = .994). By using this method, AHRS testing can be performed under more realistic conditions, providing an alternative to costly field testing. This technique is especially useful for simulations of autonomous vehicle technologies such as collision avoidance, where an increased risk of damage to the UAV is present.

关键词： Attitude and heading reference systems Inertial measurement MEMS Unmanned aerial vehicles

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Intelligent behavior for self organizing robotic swarms

Intelligent behavior for self organizing robotic swarms

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作者： Derr, Kurt W. University of Idaho

学位级别：Ph.D.

Ultra-scalable autonomous systems with research in self configuration, self adaption, and self healing are a grand challenge for future scientific and engineering research goals that benefit mankind. Examples include mobile communications and mobile wireless sensor systems that automatically self configure when a node fails and continue to provide complete communications and sensing coverage for some domain; swarms of unmanned vehicles providing border protection through surveillance of a coastline and ground borders; search and recovery operations in hazardous areas; environmental monitoring; teams of unmanned underwater, above water, and ground vehicles automating deep sea mining; and tracing chemical, biological, and radiological hazards to their source. These applications all require a variety of autonomous behaviors. One of the most important behaviors is blanket coverage. This behavior becomes more challenging in the presence of obstacles and boundary areas. Researchers typically limit swarm simulation studies to a small group of mobile robots in an open environment with no obstacles. Wireless sensor networks (WSNs) may observe phenomena that vary across the domain with a non-uniform distribution. The goal of blanket coverage behavior for deploying mobile wireless sensor networks is maximizing coverage (achieving blanket coverage) while varying node density in areas of high sensory interest. This dissertation provides algorithms for blanket coverage in environments with obstacles as well as algorithms that provide blanket coverage and aggregate sensors in areas of high sensory interest. This dissertation contributes by developing 1) enhanced distributed decentralized approaches to unmanned vehicle dispersal for blanket coverage; 2) algorithm for dynamic adjustment of control parameters ensuring convergence towards optimal formations; 3) algorithm demonstrating scalable optimal formations with hundreds of robots; 4) new centralized algorithms for determining th

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