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6th International Conference on Computer Applications In Electrical Engineering-Recent Advances (CERA)

作者： Singh, Saurabh Shetkar, Vinay K. Siddiqui, Faisal Soman, Dawnee Ramaiah Inst Technol Elect & Elect Engn Bengaluru India

ISBN: (纸本)9781509048748

An autonomous robotic vacuum cleaner, also known as Robovac, performs the task of vacuuming a room autonomously without the need of human supervision. One of the major parts of the working of such a Robovac is its navigation. The Robovac discussed in this paper achieves this task with the help of an array of 4 ultrasonic sensors, which help prevent collisions, and a camera module for computer vision. A caterpillar wheel arrangement, powered by geared dc motors ensures smooth motion over different kinds of surfaces. The hybrid navigation algorithm uses four different algorithms in the same system, namely - Spiral, Wall follower, S-Shaped, and Random Walk, to ensure maximum area coverage in unit time. The proposed algorithm is efficient and simpler as compared to those reported in the earlier literature.

关键词： autonomous computer vision navigation algorithm vacuum cleaner complete coverage Robovac

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Gait Generation and Terrain navigation algorithm Design for a Self-Reconfigurable Robot

Gait Generation and Terrain Navigation Algorithm Design for ...

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Symposium on Recent Advances in Electrical Engineering (RAEE)

作者： Ahsan, Fatima Hasan, K. M. Univ Engn & Technol Dept Elect Engn Lahore 54580 Pakistan

ISBN: (纸本)9781467382403

This paper presents the gait generation and navigation algorithms of an autonomous self-reconfiguring mobile robot platform, Chaser, which is capable of changing its configuration according to its surroundings. This robot attains selftransforming capability due to multiple degrees of freedom in its structure and the on-board range-sensing ability. The proposed gait generation and navigation algorithms enable Chaser to reconfigure itself to a shape that is best suited to pass through, over or under the obstacles presented to it. Moreover, the robot has the capability to traverse through various type of terrains by moving on wheels, walking like a quadruple and swimming like humans respectively. These multiple kinds of gaits have been coupled with a terrain navigation algorithm so that robot could identify different kinds of terrains and obstacles and transform itself to navigate seamlessly through them. The performance of Chaser is experientially tested with various real-world obstacles. Experimental results validate its performance.

关键词： Self-Reconfiguration IR-Sensors Gait Generation navigation algorithm

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A navigation algorithm for UUVs to Avoid Shape Changeable Obstacles 14

A Navigation Algorithm for UUVs to Avoid Shape Changeable Ob...

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14th International Conference on Computer and Automation Engineering (ICCAE)

作者： Zhang, Yang Zhang, Jian Univ New South Wales Sch Elect Engn & Telecommun Sydney NSW Australia

ISBN: (纸本)9781665483797

In order to guide an undersea unmanned vehicle (UUV) avoiding obstacles in an underwater environment, an navigation algorithm is proposed in this paper. It can be applied to planar environment, the shape of obstacles could be changeable. This method combines local path planning and global path planning together, switching between two modes so as to safely navigate the UUV' s way. In order to show the performance of the proposed algorithm, the simulation results are presented by Matlab. The reason why we promoting this algorithm is that it is a computational efficient algorithm, comparing with the prior ones, the cost could be saved while achieving the expected results successfully.

关键词： undersea unmanned vehicle navigation algorithm obstacle avoidance shape changeable obstacles non-convex constraints

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Development of the Autonomous navigation algorithm based on the Geometric Method for Skid Steering Vehicles: Convergence of Skid Steering and Pure Pursuit Methods Using Compensation Coefficients 22

Development of the Autonomous Navigation Algorithm based on ...

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22nd International Conference on Control, Automation and Systems (ICCAS)

作者： Kim, Junghyun Crane, Carl D. Kim, Jungha Kookmin Univ Grad Sch Automot Engn Seoul 02707 South Korea Univ Florida Dept Mech & Aerosp Engn Gainesville FL 32611 USA Kookmin Univ Dept Automobile & IT Convergence Seoul 02707 South Korea

ISBN: (纸本)9788993215243

This article aims to propose the navigation algorithm for autonomous driving of the skid steering vehicles based on the geometric method. The navigation system consists of two main concepts: the Skid Steering and Pure Pursuit methods. This study combines two concepts into one formula. And adds the two-compensation coefficient at the combined formula and organizes the concepts through mathematical proofs. The proposed formula has the advantage of being similar to the control of the ordinary vehicle with an Ackerman steering hardware system in a simple way and it doesn't necessary the modeling process of the vehicle and various road environments. In the experiments section of this article, Simulations were conducted several times by varying the compensation coefficients to examine how to change the steering characteristics of the vehicle.

关键词： Autonomous Driving Compensation Coefficient Geometric Path Tracking navigation algorithm Pure Pursuit Skid Steering.

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navigation algorithm for Floor-Mopping Robot

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Procedia Engineering 2012年 31卷 874-878页

作者： Wiruch Kongsin Satapon Kirita Department of Electrical Engineering Faculty of Engineering Rajamangala University of Technology Lanna Tak Campus 41 Phaholyothin Road Mai-Ngarm Muang Tak 6300 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.

关键词： Robot Simulation navigation algorithm behaviour-based algorithm

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Target detection for multi-UAVs via digital pheromones and navigation algorithm in unknown environments

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Frontiers of Information Technology & Electronic Engineering 2020年第5期21卷 796-808页

作者： Yan SHAO Zhi-feng ZHAO Rong-peng LI Yu-geng ZHOU College of Information Science and Electronic Engineering Zhejiang UniversityHangzhou 310027China Zhejiang Lab Hangzhou 311121China Institute of Wanfeng Jinyuan Holding Group Co. Ltd.Shaoxing 312000China

Coordinating multiple unmanned aerial vehicles(multi-UAVs)is a challenging technique in highly dynamic and sophisticated *** on digital pheromones as well as current mainstream unmanned system controlling algorithms,we propose a strategy for multi-UAVs to acquire targets with limited prior *** particular,we put forward a more reasonable and effective pheromone update mechanism,by improving digital pheromone fusion algorithms for different semantic pheromones and planning individuals’probabilistic behavioral decision-making ***,inspired by the flocking model in nature,considering the limitations of some individuals in perception and communication,we design a navigation algorithm model on top of Olfati-Saber’s algorithm for flocking control,by further replacing the pheromone scalar to a *** results show that the proposed algorithm can yield superior performance in terms of coverage,detection and revisit efficiency,and the capability of obstacle avoidance.

关键词： Collective intelligence Digital pheromones Artificial potential field navigation algorithm

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Adaptive navigation algorithm with Deep Learning for Autonomous Underwater Vehicle

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SENSORS 2021年第19期21卷 6406-6406页

作者： Ma, Hui Mu, Xiaokai He, Bo Shanghai Marine Elect Equipment Res Inst Shanghai 201108 Peoples R China Harbin Engn Univ Coll Shipbldg Engn Harbin 150001 Peoples R China Harbin Engn Univ Qingdao Innovat & Dev Ctr Qingdao 266000 Peoples R China Ocean Univ China Coll Informat Sci & Engn Qingdao 266000 Peoples R China

Precise navigation is essential for autonomous underwater vehicles (AUVs). The measurement deviation of the navigation sensors, especially the microelectromechanical systems (MEMS) sensors, is a crucial factor that affects the localization accuracy. Deep learning is a novel method to solve this problem. However, the calculation cycle and robustness of the deep learning method may be insufficient in practical application. This paper proposes an adaptive navigation algorithm with deep learning to address these questions and realize accurate navigation. Firstly, this algorithm uses deep learning to generate low-frequency position information to correct the error accumulation of the navigation system. Secondly, the chi 2 rule is selected to judge if the Doppler velocity log (DVL) measurement fails, which could avoid interference from DVL outliers. Thirdly, the adaptive filter, based on the variational Bayesian (VB) method, is employed to estimate the navigation information simultaneous with the measurement covariance, improving navigation accuracy even more. The experimental results, based on AUV field data, show that the proposed algorithm could realize robust navigation performance and significantly improve position accuracy.

关键词： autonomous underwater vehicle navigation algorithm deep learning variational Bayesian

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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

作者： Yonggang Zhang Yuanfang Dang Ning Li Yulong Huang Department of Automation University of Harbin Engineering

ISBN: (纸本)9781467391054

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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A navigation and control algorithm for the position tracking of underwater vehicles 22

A navigation and control algorithm for the position tracking...

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22nd Mediterranean Conference on Control and Automation (MED)

作者： Alonge, F. D'Ippolito, F. Univ Palermo Dipartimento Energia Ingn Informaz & Modelli Mate Viale Sci Ed 10 I-90128 Palermo Italy

ISBN: (纸本)9781479959013

In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control algorithm assures convergence to zero of the position tracking error. An extension of the basic estimation algorithm has been considered, in which position measurements are considered sampled at low rate and randomly spaced in time. Computer simulations are given of the proposed position tracking control of an underactuated underwater vehicle.

关键词： autonomous underwater vehicles parameter estimation path planning position control tracking calibration parameter estimation differential kinematics inversion estimation algorithm kinematic control algorithm marine current navigation algorithm position measurements position tracking control position tracking error underactuated underwater vehicle Calibration Estimation Kinematics Mathematical model navigation Vectors Vehicles

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Design of Outdoor Following Vehicle System based on GPS-INS Fusion navigation algorithm

Design of Outdoor Following Vehicle System based on GPS-INS ...

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IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference

作者： Zhimin Li Daolin Zhou Yipeng Huang School of Automation Wuhan University of Technology Wuhan P.R. China

To obtain accurate positioning of the autonomous following vehicles in a complex environment, this paper develops a following system considering both the following vehicle and the mobile terminal, which is based on the precise location calculated by fusion navigation algorithm from GPS and INS. An outdoor following vehicle platform is set up and experiments are conducted with single INS sensor, single GPS sensor and combined GPS-INS sensor. The result shows that the system based on the proposed fusion algorithm can get more accurate location than the results calculated by information from single sensor. It also indicates that the proposed algorithm can eliminate the noise and accidental errors and improves the response efficiency. By tracking the vehicles movement of the following system, the proposed following system outperforms the existing system on flat ground and gentle slope.

关键词： Outdoor Following system Vehicle Sensor fusion navigation algorithm

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