检索结果-内蒙古大学图书馆

American Control Conference

作者： Pachter, M Porter, A USAF Dept Elect & Comp Engn Wright Patterson AFB OH 45433 USA

ISBN: (纸本)0780383354

The theory behind Inertial navigation System (INS) aiding using passive, bearings-only measurements of an unknown ground object is developed. Passive, bearings-only measurements provide an effective means to aid an INS, but only the two-dimensional case was previously considered. This paper addresses the complexities of moving from two-dimensional to three-dimensional space. Stand-alone, bearings-only measurements of an unknown ground object are shown to yield estimates of the aircraft's aerodynamic angles, viz., the angle of attack and sideslip angle, which in turn are used to aid the INS. Using the synergy of INS state and passive, bearings-only measurements, a powerful navigation algorithm is developed.

关键词： inertial navigation inertial systems angular measurement aircraft navigation aerodynamics bearings only measurements INS aiding inertial navigation system three dimensional space stand alone measurements aircraft aerodynamic angles angle of attack sideslip angle navigation algorithm hybrid navigation systems Inertial navigation systems three-dimensional space inertial systems aircraft navigation Angle measurement ANGLE OF ATTACK INERTIAL navigation Aerodynamics bearing-only measurement

来源：评论

学校读者我要写书评

暂无评论

FPGA realization of mobile robot controller using fuzzy algorithm

FPGA realization of mobile robot controller using fuzzy algo...

引用

9th WSEAS International Conference on Automatic Control, Modeling and Simulation

作者： Islam, Shabiul Zaman, Mukter Azim, Anwarul Othman, Masuri Multimedia Univ Fac Engn Cyberjaya 63100 Selangor Malaysia Univ Kebangsaan Malaysia Dept Elect Elect & Syst Engn Bangi 43600 Malaysia

ISBN: (纸本)9789608457720

This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. The Fuzzy Logic algorithm has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult if not impossible to implement. Fuzzy Logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy algorithm. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB platform with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also have presented. Then the VHDL codes are synthesized to get MRC hardware blocks using synthesis tool, Quartus II from Altera environment. Finally the designed codes of MRC algorithm has been downloaded into FPGA board for verifying the functionality of algorithm for VLSI implementation.

关键词： fuzzy rules mobile robot controller navigation algorithm VHDL synthesis FPGA

来源：评论

学校读者我要写书评

暂无评论

Design and synthesis of mobile robot controller using fuzzy

Design and synthesis of mobile robot controller using fuzzy

引用

IEEE International Conference on Semiconductor Electronics

作者： Islam, Md. Shabiul Azim, Md. Anwarul Jahan, Md. Saukat Othman, Masuri Multimedia Univ Fac Engn Cyberjaya 63100 Selangor Malaysia Univ Kebangsaan Malaysia Inst Microengn & Nanoelectron Bangi 43600 Malaysia

ISBN: (纸本)9780780397309

This paper describes a Fuzzy Logic Controller (FLC) algorithm for designing an autonomous mobile robot controller (MRC). The controller enables the robot to navigate in an unstructured environment and that avoid any encountered obstacles without human intervention. The autonomous mobile robot is found to be able to react to the environment appropriately during its navigation to avoid crashing with obstacles by turning to the proper angle while moving. The Fuzzy Logic algorithm has proven a commendable solution in dealing with certain control problems when the situation is ambiguous. One of the main difficulties faced by conventional control systems is the inability to operate in a condition with incomplete and imprecise information. As the complexity of a situation increases, a traditional mathematical model will be difficult if not impossible to implement. Fuzzy Logic is a tool for modeling uncertain systems by facilitating common sense reasoning in decision-making in the absence of complete and precise information. In this paper, the controller of an autonomous mobile robot is designed based on the theories of Fuzzy Logic. The wheeled robot is able to navigate by itself in a completely unstructured environment. The codes of MRC has written for implementing the separate modules of the Fuzzifier, Fuzzy Rule Base, Inference mechanism and Defuzzifier as hardware blocks. A behavioral model of MRC algorithm is first developed in MATLAB session with numerous data to evaluate its algorithm functionality. The development of MATLAB codes has converted into VHDL codes;for hardware implementation. Comparison results between MATLAB and VHDL of MRC algorithm also presented. Then the VHDL codes are synthesized using synthesis tool, known as Quartus II. Finally the MRC hardware blocks for VLSI design have been carried out.

关键词： fuzzy rules mobile robot controller navigation algorithm VHDL synthesis

来源：评论

学校读者我要写书评

暂无评论

Development of Probability Fields for Collision Avoidance

Development of Probability Fields for Collision Avoidance

引用

AIAA Aviation Forum

作者： Williams, Edwin A. Jin, Yan Schulze, P. Chase Syst Technol Inc Engn Serv Hawthorne CA 90250 USA Univ Southern Calif Aerosp & Mech Engn Los Angeles CA 90089 USA

ISBN: (数字)9781624105982

ISBN: (纸本)9781624105982

Standard Guidance, navigation, and Control (GN&C) systems take state data from a navigation system and create a trajectory that minimizes some a-priori determined cost function. Previous work has been done to show the effectiveness of using risk as the sole objective function. However, this previous work used Poisson distributions and historical estimates to achieve this goal. In this paper we present the underlying statistics of a situation-risk assessment (SRA) method contained within the intelligent situation assessment and collision avoidance (iSC) platform. The SRA method uses data clustering, and pattern recognition to create a historical-based estimate of guidance probabilities. These are then used in data driven, dynamic models to create future probability fields of the situation. The paper ends with an example creating a command decision probability function for a congested urban airspace environment.

关键词： Probability Density Functions Airspace navigation algorithm Unmanned Aircraft System Urban Air Mobility Guidance System Data Analysis Air Vehicle Autonomous Systems Systems Engineering

来源：评论

学校读者我要写书评

暂无评论

Unrealnavigation: Simulation Software for testing SLAM in Virtual Reality

UnrealNavigation: Simulation Software for testing SLAM in Vi...

引用

AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Bettens, Anne Morrell, Benjamin Coen, Mauricio McHenry, Neil Wu, Xiaofeng Gibbens, Peter Chamitoff, Gregory Univ Sydney Sydney NSW 2006 Australia Texas A&M Univ College Stn TX 77840 USA Univ Newcastle Callaghan NSW 2308 Australia

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

We present Unrealnavigation;an integrated software platform for testing Simultaneous Localization and Mapping (SLAM) algorithms for autonomous robotic navigation. The framework, which is part of a Virtual Reality simulation in space environments is designed to allow rapid testing of autonomous navigation algorithm components. The architecture is designed with a plug-and-play style adaptability in mind, allowing for a wide range of uses and rapid development. Two approaches to SLAM will be demonstrated in the novel simulation framework, utilizing a game development engine, Unreal, connected by the Robotic Operating System (ROS). Comparison of these two algorithms was enabled through the simulation framework created. The different approaches authenticate the ability to integrate a holistic algorithm system or separate components into the framework.

关键词： Simultaneous Localization and Mapping Simulation Software Autonomous navigation System Space Environment Operating Systems Robots navigation algorithm Closed Loop System Asteroids Path Planning

来源：评论

学校读者我要写书评

暂无评论

Synchronized Intelligent Buoy Network for Underwater Positioning

Synchronized Intelligent Buoy Network for Underwater Positio...

引用

Washington State Conference and Trade Center (WSCTC)

作者： Almeida, Rui Cruz, Nuno Matos, Anibal INESC FEUP DEEC P-4200465 Oporto Portugal

ISBN: (纸本)9781424443338

This paper addresses the development of a new generation of lightweight intelligent buoys. These buoys are used to support underwater acoustic positioning systems, but were also designed to be elements of portable coastal observatories for short term deployments. We will present the main features of a buoy prototype including the physical structure, the computational system and algorithms developed to support operations. The paper also shows how to take advantage of this new tool to implement different navigation algorithms for AUVs.

关键词： AUV autonomous underwater vehicle intelligent buoy network mobile robots navigation navigation algorithm position control prototypes remotely operated vehicles underwater acoustic positioning system underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

Development of fast map building algorithm for merchandise location guiding mobile robot

Development of fast map building algorithm for merchandise l...

引用

SICE-ICASE International Joint Conference

作者： Hong, Jin-Pyo Choi, You-Jun Park, Kyi-Hwan Gwanju Inst Sci & Technol Dept Mechatron Gwangju South Korea

ISBN: (纸本)9788995003848

In the public space, we need first of all the map building to guide the person into the desired position. For realizing this functionality, we propose the fast map building method combining the wall following algorithm and the segment estimation algorithm. First, the process of fast map building algorithm is introduced and secondly, the navigation algorithm for following the surface of a wall by IR sensors is proposed and local map building method by estimation of line segment is shown. We derive the correlation between the orthogonal wall distance and IR sensor data using trigonometric functions and the similarity ratio of a triangle. Finally, we verify that our proposed method is sufficiently valid as describing the experimental results using our developed mobile robot platform, GIMOR(GIST Mobile Robot)-I.

关键词： fast map building IR sensor laser range finder navigation algorithm local map building

来源：评论

学校读者我要写书评

暂无评论

Indoor positioning in peer-to-peer networks

Indoor positioning in peer-to-peer networks

引用

5th ESA Workshop on Satellite navigation Technologies / European Workshop on GNSS Signals and Signal Processing (NAVITEC)

作者： Brussee, Rogier Darau, Mirela Dworczynska, Marta Fan, Yabin Koeleman, Paulien Kowalczyk, Piotr Samson, Jaron Schlomer, Nico Swist, Tomasz van Wijk, Sandra Univ Appl Sci Utrecht Utrecht Netherlands Eindhoven Univ Technol Eindhoven Netherlands Wroclaw Univ Technol Wroclaw Poland Free Univ Amsterdam Amsterdam Netherlands Univ West Scotland London England European Space Agcy ESTEC Noordwijk Netherlands Univ Antwerp Antwerp Belgium Warsaw Univ Warsaw Poland

ISBN: (纸本)9781424487417

We present two algorithms for indoor positioning in peer-to-peer networks. The setup is a network of two types of devices: reference devices with a known location, and user devices that can determine distances to reference devices and each other. We present two algorithms for positioning estimation in such a peer-to-peer network. The first one is purely geometric and reduces determining the best estimate for the position of a device to a least squares problem. The second approach can be considered as a probabilistic version of the geometric approach. We estimate the probability density function that a device is located at a position, given a probability density function for the positions of the other devices in the network, and a probability density function of the measured distances.

关键词： navigation algorithm positioning estimate peer-to-peer network least squares probability density function

来源：评论

学校读者我要写书评

暂无评论

Navigační subsystém robotu Minidarpa

Navigační subsystém robotu Minidarpa

引用

作者： Kuna, Zdeněk Brno University of Technology

Tato bakalářská práce je rozdělena do dvou částí. První část je spíše teoretická, neboť zahrnuje principy družicové navigace a metody zpřesňování polohy GP... 详细信息

Tato bakalářská práce je rozdělena do dvou částí. První část je spíše teoretická, neboť zahrnuje principy družicové navigace a metody zpřesňování polohy GPS přijímače. Druhá část je aplikační a popisuje navigační subsystém z hardwarového a softwarového hlediska. Úkolem této bakalářské práce bylo vytvořit navigační subsystém pro robota, navrhnout komunikační kanál a implementovat navigační algoritmus do robota.

关键词： Navigační subsystém robotu Minidarpa DGPS GPS navigační algoritmus The navigation subsystem of robot Minidarpa DGPS GPS navigation algorithm Text

来源：评论

学校读者我要写书评

暂无评论

Landing Guidance Strategy of Space Rider

引用

JOURNAL OF SPACECRAFT AND ROCKETS 2021年第4期58卷 1220-1231页

作者： Figueroa-Gonzalez, Antonio Cacciatore, Francesco Haya-Ramos, Rodrigo SENER Aeroesp SA Adv Syst & Avion Div Severo Ochoa 4 Madrid 28760 Spain

Space Rider is the European program proposed to develop an affordable and sustainable reusable space transportation system to enable access to and return from space. To procure a safe and accurate landing, Space Rider will use a large deployable parafoil to fly autonomously upon the landing site. The landing guidance algorithm is based on two preselected waypoints and enables the system to reach the target landing site with high accuracy and being adaptive to wind knowledge errors, turbulence, and uncertainties on the main characteristics of the system, such as aerodynamics, sensors, and actuator parameters. The core of the landing guidance strategy is the so-called quasi-optimal time algorithm, responsible for the terminal guidance and energy management exiting. This algorithm minimizes the difference between the time to go and the estimated duration of the terminal maneuvers to guarantee an accurate landing also in the presence of strong winds. This paper presents the guidance strategy and demonstrates the feasibility of the design by Monte Carlo analysis of the Space Rider landing using a six-degree-of-freedom parafoil-payload model. The design presented in this work successfully passed the Critical Design Review of the Space Rider guidance, navigation, and control subsystem in December 2019.

关键词： Parafoil Terminal Guidance Energy Management Monte Carlo Simulation Aerodynamic Coefficients navigation algorithm Six Degree of Freedom Onboard Sensors Space Transportation System Actuators

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：