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检索条件"主题词=Sensor-based Navigation"

共 38 条记录，以下是21-30 订阅

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Portable Beacon System for Emergency Mountain Landing Pad

Portable Beacon System for Emergency Mountain Landing Pad

引用

European navigation Conference (ENC)

作者： Kelner, Jan M. Ziolkowski, Cezary Mil Univ Technol Inst Telecommun Fac Elect Warsaw Poland

ISBN: (纸本)9781538694732

The use of satellite navigation may be insufficient to conduct search and rescue operations in mountain terrains using a helicopter. Variable weather conditions and poor visibility in fog or low clouds can prevent landing the helicopter in a place, wherefrom injured or missing people can take out. This paper presents the idea of an emergency mountain landing pad based on a portable beacon system. The developed concept uses the signal Doppler frequency (SDF) location method. We show the simulation analysis of the helicopter positioning accuracy during its landing at the emergency pad.

关键词： aeronautical navigation air transport sensor-based navigation dedicated navigation system search and rescue (SAR) system helicopter signal Doppler frequency (SDF) method Doppler effect portable radio beacon emergency mountain landing pad landing approach

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Cooperative multi-robot control for target tracking with onboard sensing

Cooperative multi-robot control for target tracking with onb...

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14th International Symposium on Experimental Robotics (ISER)

作者： Hausman, Karol Mueller, Joerg Hariharan, Abishek Ayanian, Nora Sukhatme, Gaurav S. Univ So Calif Dept Comp Sci Los Angeles CA 90089 USA

We consider the cooperative control of a team of robots to estimate the position of a moving target using onboard sensing. In this setting, robots are required to estimate their positions using relative onboard sensing while concurrently tracking the target. Our probabilistic localization and control method takes into account the motion and sensing capabilities of the individual robots to minimize the expected future uncertainty of the target position. Two measures of uncertainty are extensively evaluated and compared: mutual information and the trace of the extended Kalman filter covariance. Our approach reasons about multiple possible sensing topologies and incorporates an efficient topology switching technique to generate locally optimal controls in polynomial time complexity. Simulations illustrate the performance of our approach and prove its flexibility in finding suitable sensing topologies depending on the limited sensing capabilities of the robots and the movements of the target. Furthermore, we demonstrate the applicability of our method in various experiments with single and multiple quadrotor robots tracking a ground vehicle in an indoor environment.

关键词： Cooperative multi-robot control target tracking sensor-based navigation sensing topology switching

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Helicopter navigation in Coastal Zone based on Terrestrial Radio-Beacon System

Helicopter Navigation in Coastal Zone Based on Terrestrial R...

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European navigation Conference (ENC)

作者： Kelner, Jan M. Ziolkowski, Cezary Mil Univ Technol Fac Elect Inst Telecommun Warsaw Poland

ISBN: (纸本)9781538694732

In certain scenarios, especially in areas of armed conflict, the use of satellite navigation may be inaccurate or impossible. In such cases, it is desirable to use backup terrestrial navigation systems. In 2016, we proposed the concept of such a system dedicated to vessels. Its basis is a radio-beacon system deployed on lighthouses along the coast. The proposed medium-range navigation system for use in the coastal zone is based on the signal Doppler frequency (SDF) method. In this paper, we analyze the possibility of positioning a helicopter based on this system. This assessment is based on simulation studies.

关键词： aeronautical navigation marine navigation air transport sensor-based navigation dedicated navigation system helicopter signal Doppler frequency (SDF) method Doppler effect terrestrial radio beacon coastal zone backup navigation system

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Cooperative decentralized reactive circumnavigation of unpredictably moving and deforming speedy extended objects 21st

Cooperative decentralized reactive circumnavigation of unpre...

引用

21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Matveev, A. Magerkin, V St Petersburg Univ Dept Math & Mech St Petersburg Russia St Petersburg Natl Res Univ Informat Technol Mech Dept Control Syst & Ind Robot St Petersburg Russia

A team of speed- and acceleration-limited robots travel in a plane that hosts an unpredictably moving and deforming extended targeted object. In its local frame, every robot has access to its own velocity and is able to identify the relative coordinates of the objects within a given finite visibility range, as well as the nearest point of the object. A sliding mode communication-free sensor-based strategy is presented that drives the robots to a desired distance from the targeted object and ensures its subsequent circumnavigation with maintaining this distance and effective self-distribution around the object. The proposed control law individually operates at any robot and is reactive, i.e., it directly converts the current sensory data into the current control in a reflex-like fashion. The performance of the proposed navigation law is rigorously justified by a global convergence result and is confirmed via computer simulation tests. Copyright (C) 2020 The Authors.

关键词： Mobile robots Circumnavigation Nonlinear control sensor-based navigation

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Envibroscope: Real-Time Monitoring and Prediction of Environmental Motion for Enhancing Safety in Robot-Assisted Microsurgery

Envibroscope: Real-Time Monitoring and Prediction of Environ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Alikhani, Alireza Inagaki, Satoshi Dehghani, Shervin Maier, Mathias Navab, Nassir Nasseri, M. Ali Tech Univ Munich Ophthalmol Dept Med Auton & Precis Surg Lab Munich Germany Tech Univ Munich Dept Comp Sci Munich Germany NSK Ltd Tokyo Japan Tech Univ Munich Chair Comp Aided Med Procedures & Augmented Real Munich Germany Johns Hopkins Univ Whiting Sch Engn Baltimore MD USA

ISBN: (纸本)9798350384581;9798350384574

Several robotic systems have emerged in the recent past to enhance the precision of micro-surgeries such as retinal procedures. Significant advancements have recently been achieved to increase the precision of such systems beyond surgeon capabilities. However, little attention has been paid to the impact of non-predicted and sudden movements of the patient and the environment. Therefore, analyzing environmental motion and vibrations is crucial to ensuring the optimal performance and reliability of medical systems that require micron-level precision, especially in real-life scenarios. To address this challenge, this paper introduces a novel environmental motion analysis system that employs a grid layout with distributed sensing nodes throughout the environment. This system effectively tracks undesired movements (motions) at designated locations and predicts upcoming motions using neural network-based approaches. The outcomes of our experiments exhibit promising prospects for real-time motion monitoring and prediction, which has the potential to form a solid basis for enhancing the automation, safety, integration, and overall efficiency of robot-assisted micro-surgeries.

关键词： Robot Safety AI for Medical Robotics Medical Robots and Systems sensor-based navigation

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Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands 16

Nonlinear Output Feedback for Autonomous U-turn Maneuvers of...

引用

16th International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Le Flecher, E. Durand-Petiteville, A. Gouaisbaut, F. Cadenat, V Sentenac, T. Vougioukas, S. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Univ Calif Davis Dept Biol & Agr Engn Davis CA 95616 USA

ISBN: (纸本)9789897583803

This paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. The main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. Then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. These controllers are based on an input to output linearization and proved to be very efficient on simulations.

关键词： Mobile Robotics sensor-based navigation Control Theory Agricultural Robotics Orchards

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Autonomous cleaning robot working in unstructured environment 6

Autonomous cleaning robot working in unstructured environmen...

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6th International Conference on Fluid Power Transmission and Control (ICFP 2005)

作者： Liu, SG Zhu, SQ Liu, Y Pang, ZW Zhao, FS Zhejiang Univ State Key Lab Fluid Power Transmiss & Control Hangzhou 310027 Peoples R China

ISBN: (纸本)7506274027

This paper describes a delicately designed autonomous cleaning robot (ACR) working in unstructured environment without prior knowledge of the environment and global self-localization ability. To do so, we first discuss the state-of-art, the key technique and the open problems of the research on ACR system, then focus on the sensor-based navigation, the intelligent behavior and the task-based working of our HSR2000. Although global self-localization and accurate environment modeling still remain unsolved in the research on mobile robots, experiments show that HSR2000 can effectively learn the environment, cutely avoid obstacles, automatically recharge itself and intelligently plan its cleaning strategy by taking advantage of its local self-localization ability.

关键词： autonomous cleaning robot sensor-based navigation intelligent behavior task-based working

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A Global navigation Management Architecture applied to Autonomous Robots in Urban Environments 18

A Global Navigation Management Architecture applied to Auton...

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18th IEEE International Conference on Intelligent Transportation Systems

作者： Kenmogne, Ide-Flore de Lima, Danilo Alves Victorino, Alessandro Correa Univ Technol Compiegne Heudiasyc UMR CNRS Lab 7253 Compiegne France

ISBN: (纸本)9781467365963

This paper presents a global behavioral architecture used as a coordinator for the global navigation of an autonomous vehicle in an urban context including traffic laws and other features. As an extension to our previous work, the approach presented here focuses on how this manager uses perceived information (from low cost cameras and laser scanners) combined with digital road-map data to take decisions. This decision consists in retrieving the car's state regarding the global navigation goal, selecting which local navigation task should be executed (either lane following or intersection maneuvers), providing sonic round constraints and further defining the reference trajectory to be met by the selected local task. This system was experimented in a real autonomous car and provided satisfactory results.

关键词： sensor-based navigation Global navigation management Digital maps

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Gradient-Free Tracking of Unsteady Environmental Level Sets in Dynamic Environments by a Nonholonomic Robot 21st

Gradient-Free Tracking of Unsteady Environmental Level Sets ...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Matveev, Alexey Kapitonov, Alexander Berman, Ivan Chernov, Valerii St Petersburg Univ Dept Math & Mech St Petersburg Russia ITMO Univ Fac Control Syst & Robot St Petersburg Russia

A non-holonomic under-actuated planar robot is propelled via interaction of its actuators with a dynamic surrounding medium;a control input is the angular velocity of robot's self-rotation relative to the medium. Meanwhile, the motion of the medium is unknown and unpredictable;the relative surge speed is time-varying and treated as uncertain. There is an unpredictably varying scalar environmental field. From a remote initial location, the robot should reach the isoline where the field assumes a pre-specified value, and then should repeatedly run its length. Robot measures only the field value at the current location and has no access to the field gradient or parameters of the medium motion. To solve this task, at first conditions are established that are necessary for the mission to be feasible with the given limitations on the robot's dynamics. Then a navigation law is presented that solves the mission under slight and partly unavoidable enhancement of these conditions. This law is computationally inexpensive and directly converts the current sensory data into the current control in a reflex-like fashion. The performance of the law is rigorously justified by a global convergence result and is confirmed via computer simulation tests. Copyright (C) 2020 The Authors.

关键词： Tracking environmental boundaries sensor-based navigation Sliding-mode control

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Development of a sensor-based Approach for Local Minima Recovery in Unknown Environments

Development of a Sensor-Based Approach for Local Minima Reco...

引用

11th IEEE International Symposium on Robotic and sensors Environments (ROSE)

作者： Nakhaeinia, Danial Hong, Tang Sai Payeur, Pierre Univ Ottawa Sch Elect Engn & Comp Sci Ottawa ON Canada Univ Putra Malaysia Dept Mech & Mfg Engn Serdang 43400 Malaysia

ISBN: (纸本)9781467329385;9781467329392

This paper introduces a new methodology for escaping from local minima using an actual-virtual target switching strategy. In particular, this approach proposes suitable steps to detect trap situations and guide the robot away from local minima even when the environment is completely unknown. In this work the navigation system consists of two layers. In the low-level layer, a Nearest Virtual Target (NVT) approach is adapted as a reactive collision avoidance method for mobile robot navigation to achieve collision free motion in cluttered, dense and troublesome scenarios. Where the robot is surrounded by obstacles and a trap situation is likely to occur, the high-level layer becomes responsible to plan a path to pull the robot out of the trap. Finally, the performance of the proposed approach is validated by simulation results.

关键词： mobile robots sensor-based navigation obstacle avoidance virtual target fuzzy control path planning

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