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International Conference on Advances in Computational Modeling and Simulation (ACMS)

作者： Kongsin, Wiruch Kirita, Satapon Rajamangala Univ Technol Lanna Dept Elect Engn Fac Engn Muang 6300 Tak Thailand

This paper presents the navigation for a floor-mopping robot by new navigation algorithm. This algorithm is used for a robot that design of cleaning with rags. Which it makes a floor-mopping robot improved efficient. We designed the navigation algorithm using the behaviour-based structure to cover a working area as much as possible without wetting the floor too much. The effectiveness of the algorithm is tested on simulation only. The results indicated that the behaviour-based algorithm provided more completeness while maintaining low energy compared to other methods. We study other navigation algorithm compared with our algorithm. It includes with zigzag, random and our behaviour-based algorithms. From simulation results, I confirm that behaviour-based algorithm is better than zigzag and random algorithms. (C) 2011 Published by Elsevier Ltd.

关键词： Robot Simulation navigation algorithm behaviour-based algorithm

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navigation algorithm for Mobile Robots Using WSN

Navigation Algorithm for Mobile Robots Using WSN

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International Conference on Computer, Electrical and Electronics Engineering (ICCEEE)

作者： Elfadil, Osman Mudthir Omdurman Islamic Univ Dept Elect & Elect Engn Omdurman Sudan

ISBN: (纸本)9781467362313;9781467362320

navigation is defined as the problem of getting from one place to another in an efficient manner. This is a significant and fundamental problem in robotics. In this paper a new navigation algorithm for mobile robot was proposed. In our navigation system, the robot can navigate autonomously with aid of a wireless sensor network (WSN) so that the additional entity such as the middleware-server is not needed. So this system can be constructed at low cost, and high accuracy.

关键词： wireless sensor network navigation algorithm

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Comparison of strapdown inertial navigation algorithm based on rotation vector and dual quaternion

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Chinese Journal of Aeronautics 2013年第2期26卷 442-448页

作者： Wang Zhenhuan Chen Xijun Zeng Qingshuang Space Control and Inertial Technology Research Center Harbin Institute of Technology

For the navigation algorithm of the strapdown inertial navigation system, by comparing to the equations of the dual quaternion and quaternion, the superiority of the attitude algorithm based on dual quaternion over the ones based on rotation vector in accuracy is analyzed in the case of the rotation of navigation frame. By comparing the update algorithm of the gravitational velocity in dual quaternion solution with the compensation algorithm of the harmful acceleration in traditional velocity solution, the accuracy advantage of the gravitational velocity based on dual quaternion is addressed. In view of the idea of the attitude and velocity algorithm based on dual quaternion, an improved navigation algorithm is proposed, which is as much as the rotation vector algorithm in computational complexity. According to this method, the attitude quaternion does not require compensating as the navigation frame rotates. In order to verify the correctness of the theoretical analysis, simulations are carried out utilizing the software, and the simulation results show that the accuracy of the improved algorithm is approximately equal to the dual quaternion algorithm.

关键词： Dual quaternion Inertial navigation system navigation algorithm Quaternion Rotation vector

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A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments

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ROBOTICS AND AUTONOMOUS SYSTEMS 2005年第4期51卷 261-274页

作者： Su, LY Tan, M Beijing Univ Technol Coll Mech Engn Beijing 100080 Peoples R China Chinese Acad Sci Inst Automat Beijing 100080 Peoples R China

In many robotic tasks, there is no a priori knowledge of the environment. This makes it necessary for robots to explore the environment. navigation algorithms for robots to map the environment completely in a short time play a very important role in the robotic task completion. A navigation algorithm based on virtual centrifugal force is proposed to complete the robotic exploration of the unknown environment using rang sensors in this paper. Collisions between a robot and an obstacle or between robots can be avoided with the application of the proposed navigation rules. The kinematics and dynamics equations of robots adopting the algorithm are also given. The simulation experiments demonstrate the operation of the algorithm. Several simulation experiments of various representative robotic tasks are carried out, based on the explorative navigation algorithm, which successfully validate the virtual centrifugal force based navigation algorithm. (c) 2005 Elsevier B.V. All rights reserved.

关键词： environment exploration multi-robotic task navigation algorithm virtual centrifugal force

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A navigation algorithm to Enable Sustainable Control of Insect-Computer Hybrid Robot with Stimulus Signal Regulator and Habituation-Breaking Function

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SOFT ROBOTICS 2024年第3期11卷 473-483页

作者： Li, Rui Lin, Qifeng Kai, Kazuki Nguyen, Huu Duoc Sato, Hirotaka Nanyang Technol Univ Sch Mech & Aerosp Engn 50 Nanyang Ave Singapore Singapore

The insect-computer hybrid soft robots are receiving increasing attention due to their excellent motor capabilities, small size, and low power consumption. However, the effective control of insects is limited to minutes since the response from insects is reduced as the number of stimulus signal increase. This phenomenon is known as habituation, which causes the loss of control of robots and hinders their application in practical tasks such as search and rescue missions that require several hours. It has been shown that constantly switching the pattern of stimulus signals can slow down the onset of habituation. Moreover, when habituation occurs, applying a different stimulus signal can break the habituation. Based on this, we have designed a navigation algorithm that can extend the control time of insects to several hours. The algorithm is composed of a stimulation decision-making core responsible for deciding on the type of stimulus signal (left, right, acceleration), a stimulation parameters adjustment (SPA) core responsible for adjusting the stimulus signal voltage constantly to delay the occurrence of habituation, and a reactivation function (RF), as a different stimulus signal from the normal stimulus signal, is used to break insects' habituation to the normal stimulus signal. Experiments have shown that our SPA regulator and RF can significantly extend the control time of insects. navigation experiments demonstrating effective control of the insects for up to 3 h verified the effectiveness of the navigation algorithm, which strikes a balance between control accuracy and control time.

关键词： insect-computer hybrid robot sustainable control habituation navigation algorithm

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Development of a Spoon Motion navigation algorithm for the Mealtime Assistant Simulator

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JOURNAL OF ROBOTICS AND MECHATRONICS 2021年第4期33卷 768-776页

作者： Mitani, Atsushi Muramatsu, Masumi Sapporo City Univ Sch Design Minami Ku 1 Geijutsunomori Sapporo Hokkaido 0050864 Japan Sapporo City Univ Sch Nursing Chuo Ku Kita 11Nishi 13 Sapporo Hokkaido 0600011 Japan

In aging society like Japan, maintaining the quality of life (QOL) is an important objective. The oral cavity has various significant functions that contribute to the QOL. Elderly people are susceptible to the swallowing disorders owing to various factors associated with advancing age. In such cases, mealtime assistance can provide elderly persons appropriate eating situations. Thus, mealtime assistance skills are essential for students in nursing and caregiver education. Recently, simulation education has attracted attention as an effective educational process for nursing and caregiver students before their clinical practice in a hospital or care house. In this educational process, a patient model that mimics specific symptoms called the simulation model, is used to learn the symptoms and its care process in the same clinical environment as actual. We have attempted to develop several oral care simulation models, and we have earlier developed a prototype of mealtime assistance simulation model. This simulation model had a tongue model with a sensor system to detect spoon motions, and its fundamental functions were evaluated via spoon detection experiments. Based on the earlier achievements, in this study, we develop an evaluation system of feeding skill using a spoon. The pressing force and position by spoon on the tongue model were estimated by transfer functions derived from experiments. In addition, we developed an algorithm that leads students' spoon position and pressing force in the correct position.

关键词： simulation model nursing and caregiver education sensing navigation algorithm simulation education

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Environment exploration using a navigation algorithm based on virtual centrifugal force

Environment exploration using a navigation algorithm based o...

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IEEE International Conference on Robotics and Automation

作者： Su, LY Yu, YQ Tan, M Liu, GP Beijing Univ Technol Sch Mech Engn Appl Elect Engn Beijing 100022 Peoples R China

ISBN: (纸本)0780382323

Environment exploration and map-building are one of the fundamental robotic application researches. An appropriate navigation algorithm can facilitate robots to map the environment within shorter time. A real-time navigation algorithm based on virtual centrifugal force is proposed in this paper for a robot to implement on-line exploration of an unknown environment in real time, and collision between a robot and an obstacle can be avoided with the VCF algorithm. The wall-following strategy is one of the special cases of the proposed algorithm when the robot approaches an obstacle. Simulation experiments are implemented to verify the effectivity of the proposed algorithm.

关键词： navigation algorithm virtual centrifugal force environment exploration map-building

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A Integrated navigation algorithm Based on Distributed Kalman Filter

A Integrated Navigation Algorithm Based on Distributed Kalma...

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IEEE International Conference on Information and Automation 2015

作者： Zhang, Yonggang Dang, Yuanfang Li, Ning Huang, Yulong Univ Harbin Engn Dept Automat Harbin Heilongjiang Pr Peoples R China

ISBN: (纸本)9781467391047

A navigation algorithm based on the distributed Kalman filtering is proposed in this paper. Compared with the algorithm that based on the centralized Kalman filtering, the proposed method can overcome a lot of shortcomings of the integrated navigation algorithm based on centralized Kalman filtering with similar navigation accuracy. Illustrative simulation is also provided to show the efficiency of the proposed method.

关键词： navigation algorithm distributed Kalman filtering centralized Kalman filtering

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Performance Verification System for navigation algorithm∼Simulation of Flight Evaluation Profile Specified in RTCA DO-334 MOPS∼

Performance Verification System for Navigation Algorithm∼Si...

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Asia-Pacific International Symposium on Aerospace Technology (APISAT)

作者： Satsuka, Kohei Sakurai, Yosuke Yanagihara, Masaaki Ohsawa, Sohshi Fujiwara, Takeshi Shinshu Univ Iida Nagano Japan Japan Aerosp Explorat Agcy Chofu Tokyo Japan

ISBN: (纸本)9789811926358;9789811926341

Shinshu University has been developing a computer simulation-based navigation algorithm verification system. The system performs the final confirmation of a subject navigation algorithm by executing the flight test items specified in Table 2-9 of the RTCA DO-334 MOPS by computer simulation of an aircraft's flight along a reference trajectory. Generating a high-precision reference trajectory requires many aircraft parameters and is computationally intensive. To alleviate these burdens, we developed a program that generates a simplified trajectory from takeoff to landing that includes turning maneuvers. In this paper, dynamic motions such as pitch up/down and lateral-directional motions such as steady sideslip, which are required in DO-334, were newly incorporated into the trajectory generation program, and inertial navigation and GPS navigation were performed along the output trajectory to confirm the usefulness of the verification system. The obtained navigation outputs were consistent with the characteristics of true data, and confirmed that the influence of flight test maneuvers on the navigation could be evaluated. It was therefore demonstrated that the system can simulate the DO-334-based verification of a navigation algorithm.

关键词： navigation algorithm Inertial navigation GPS navigation Numerical simulation DO-334

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Inertial navigation algorithm Based on Modified Kalman Filter and Wavelet Technique for Intelligent Vehicle 8

Inertial Navigation Algorithm Based on Modified Kalman Filte...

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8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC)

作者： Duan, Jianmin Song, Zhixue Wang, Changren Liu, Dan Beijing Univ Technol Coll Metropolitan Transportat Beijing Peoples R China

ISBN: (纸本)9781509007684

Aimed at solving the problems of GPS outage or deterioration of accuracy, the strap-down inertial navigation system (SINS) is proposed to provide reliable positioning or attitude information for intelligent vehicle. A set of mathematical transformations and integrations with respect to time are applied to these measurements of SINS to calculate position, velocity and attitude information. More importantly, in allusion to the deterioration with time of SINS accuracy, caused by the possible noise, this paper analyzes the stochastic mathematical model of SINS, uses two de-noising methods to preprocess the raw experimental data of the intelligent vehicle for eliminating integrated error. By comparing the position errors calculated with three sets of data: the raw data, the wavelet de-noised data and the adaptive fading Kalman filtered data based on the current statistical model of acceleration in the experiment, we draw a conclusion that inertial navigation algorithm with data preprocessed by the two de-noising methods can improve the position accuracy considerably. And the proposed adaptive fading Kalman filter method based on the current statistical model of acceleration is better than the wavelet de-noising method.

关键词： SINS navigation algorithm wavelet de-noising technique adaptive fading Kalman filter current statistical model intelligent vehicle

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