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检索条件"主题词=navigation algorithm"

共 102 条记录，以下是41-50 订阅

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Self-Localization and navigation of Holonomic Mobile Robot using Omni-Directional Wheel Odometry

Self-Localization and Navigation of Holonomic Mobile Robot u...

引用

IEEE Region 10 Conference (TENCON)

作者： Inthiam, Jiraphan Deelertpaiboon, Chirdpong King Mongkuts Univ Technol North Bangkok Fac Engn Dept Instrumentat & Elect Engn Automat Engn Bangkok Thailand

ISBN: (纸本)9781479940752

This paper proposes a simple but effective self-localization and navigation algorithm for the omni-directional mobile robot equipped with three driving and three odometry wheels. Not only can this technique locates the robot's position, but it can also align its heading with respect to the selected target while navigating along the pre-defined trajectory. With a certain configuration of odometry omni-directional wheels, rotational readings from three encoders attached to these odometry wheels provide linear and angular velocities of the mobile robot. Integrating these velocities would result in position and heading of the mobile robot. As a result, the mobile robot becomes a complete holonomic system. Furthermore, navigation algorithm is illustrated for two cases namely point-to-point and multi-point schemes. Three experimental results are conducted to verify the effectiveness of this algorithm.

关键词： self-localization navigation algorithm omni-directional wheel robot

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A Comparison of Feature Extraction Methods for Terrain Relative navigation

A Comparison of Feature Extraction Methods for Terrain Relat...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Majji, Manoranjan Simon, Andrew B. Restrepo, Carolina I. Lovelace, Ronney Texas A&M Univ LASR Lab College Stn TX 77834 USA Texas A&M Univ Aerosp Engn College Stn TX 77834 USA NASA Goddard Space Flight Ctr Greenbelt MD USA NASA Johnson Space Ctr Houston TX USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Various image feature extraction methods are compared for terrain relative navigation applications. Qualitative and quantitative performance measures to evaluate the utility of the relevant feature identification methods are discussed to form a basis for this comparison process. A medium-fidelity terrain relative navigation emulation test-bed called navigation, Estimation and Tracking (NEST) test-bed is utilized to generate terrain and range measurements to facilitate the evaluation process.

关键词： Terrain Relative navigation Speeded Up Robust Features Image Processing Johnson Space Center Feature Detection Sensor Technology LIDAR Sensor Information Processing navigation algorithm Mathematical Models

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Collision-free navigation of Flying Robots in Outdoor Environments with Dynamic Obstacles 6

Collision-free Navigation of Flying Robots in Outdoor Enviro...

引用

6th International Conference on Control, Automation and Robotics (ICCAR)

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

ISBN: (数字)9781728161396

ISBN: (纸本)9781728161396

In this paper, a collision-free navigation algorithm for flying robots is proposed. The algorithm is applied to three-dimensional environments with dynamic obstacles. Shapes of moving obstacles may be non-convex, motion of the obstacles is variable. The algorithm is a sliding mode control law, switching between two modes, the target approaching mode and the obstacle avoidance mode. Mathematical analysis of the proposed algorithm is given. Simulation results are also provided in order to demonstrate its performance. Compared with other approaches, the algorithm is a really practical one as the constraints of the obstacles are not too hard to be satisfied. Moreover, the proposed algorithm is computationally efficient.

关键词： lying robots navigation algorithm obstacle avoidance dynamic environments non-convex constraints

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Adaptive End-to-End Architecture for Autonomous Spacecraft navigation and Control During Rendezvous and Proximity Operations

Adaptive End-to-End Architecture for Autonomous Spacecraft N...

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AIAA SciTech Forum

作者： Kruger, Justin Guffanti, Tommaso Park, Tae Ha Murray-Cooper, Mason Low, Samuel Bell, Toby D'Amico, Simone Roscoe, Christopher Westphal, Jason Stanford Univ Stanford Space Rendezvous Lab Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Ten One Aerosp Washington DC 20002 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Onboard guidance, navigation, and control (GNC) during rendezvous and proximity operations (RPO) between spacecraft poses unique challenges for associated algorithms. Future missions will require greater on-board autonomy while maintaining in-orbit safety guarantees at varying distances, and scenarios of interest may feature multiple spacecraft which may be cooperative or non-cooperative. This paper presents the conception and development of a new GNC software payload for distributed space systems, which enables safe, autonomous RPO between multiple objects with maximum flexibility and modularity. navigation algorithms fuse far-range camera images, close-range camera images, differential carrier-phase Global navigation Satellite System data, and inter-satellite crosslink data to estimate absolute orbits, relative orbits, target pose, and auxiliary states across the entire regime of interest. A control algorithm suite provides optimal maneuver solutions for efficient long-term formation maintenance at far range, centimeter-level rendezvous accuracy at close range, and fast, robust collision avoidance. Prototype simulations featuring cooperative and non-cooperative targets at far, medium and close ranges demonstrate highly capable GNC performance for distributed space systems, and are a significant step towards achieving complete integration of a flexible autonomous RPO kit for spacecraft.

关键词： Global navigation Satellite System Guidance, navigation, and Control Satellites Collision Avoidance navigation algorithm Distributed Space Systems Control algorithm Autonomous Spacecraft navigation Model Predictive Control Orbit Determination

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Hardware-in-the loop testing of crater navigation system for lunar landing

Hardware-in-the loop testing of crater navigation system for...

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AIAA SciTech Forum

作者： Woicke, Svenja Krueger, Hans German Aerosp Ctr Inst Space Syst Deutsch Zentrum Luft & Raumfahrt Dept Nav & Control Syst Robert-Hooke-Str 7 Bremen Germany

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

At the German Aerospace Center a Crater navigation System has been developed over the last years. So far, its overall performance on challenging use-cases such as South Pole landings as well as on the real flight data from Chang'e-3 has been demonstrated. Here, we focus on showing that the algorithm provides adequate update rates when executed on flight processors. In this paper it is demonstrated that in tracking mode DLR's Crater navigation System provides measurements at a rate higher than 1 Hz on modern flight hardware. It is also shown that DLR's Crater navigation System requires less than 5 s when executed in acquisition mode. In addition this paper presents a real-time hardware-in-the-loop test of the algorithm, combining the aforementioned processor-in-the-loop setup with a real camera and a mock-up of a lunar scene. During this test it has been demonstrated that the system can successfully be operated in real-time and is capable of sustaining the favorable tracking mode during the entire test. This underlines that it is ready to be integrated in real flight systems.

关键词： Lunar Exploration German Aerospace Center Flight Data Robots Precision Landing State Estimation Cumulative Distribution Function navigation algorithm Image Processing Sensor Technology

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Underwater navigation in the presence of unknown currents based on range measurements from a single location

Underwater navigation in the presence of unknown currents ba...

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American Control Conference 2005 (ACC)

作者： Gadre, AS Stilwell, DJ Virginia Polytech Inst & State Univ Bradley Dept Elect & Comp Engn Blacksburg VA 24061 USA

ISBN: (纸本)0780390989

An underwater navigation algorithm is considered that enables an underwater vehicle to compute its trajectory in the presence of unknown currents by utilizing range measurements from a single known location. There exists a small set of trajectories for which the algorithm does not converge. By assessing local observability about potential vehicle trajectories, we characterize those trajectories that cannot be asymptotically estimated. The navigation algorithm is illustrated using computer simulation and a hardware experiment.

关键词： control system analysis computing navigation position control predictive control underwater vehicles computer simulation hardware experiment navigation algorithm range measurements trajectory computation underwater navigation underwater vehicle Ranging measurements Underwater navigation control system analysis computing underwater vehicles Trajectory calculation Position control Predictive control navigation trajectory

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GPS-Enhanced Spaceborne Angle-Only Relative navigation with Dual Kalman Filters

GPS-Enhanced Spaceborne Angle-Only Relative Navigation with ...

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AIAA SciTech Forum

作者： Chihabi, Yazan Ulrich, Steve Carleton Univ Dept Mech & Aerosp Engn 1125 Colonel By Dr Ottawa ON K1S 5B6 Canada

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

A novel angle-only relative navigation algorithm that utilizes a dual-Kalman filtering technique using unscented Kalman filters for spacecraft relative motion is proposed in this paper. Specifically, the proposed algorithm takes advantage the chaser's inertial GPS measurements to estimate unmodelled dynamics through a parameter estimator which is then used within a target state estimator. Furthermore, the ballistic coefficients of atmospheric drag and solar radiation pressure for the target are estimated within the algorithm. The proposed solution is evaluated in a highly elliptical orbit scenario and compared against an adaptive unscented Kalman filter employing the same dynamical and measurement models as a benchmark. The dual-Kalman filtering formulation resulted in orders of magnitude increase in estimation accuracy.

关键词： Unscented Kalman Filter Highly Elliptical Orbit Solar Radiation Pressure navigation algorithm Ballistic Coefficient Orbital Elements Target Spacecraft Orbital Period Earth Centered Inertial Formation Flying

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Primate-inspired Autonomous navigation Using Mental Rotation and Advice-Giving

Primate-inspired Autonomous Navigation Using Mental Rotation...

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IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Velayudhan, Lakshmi Arkin, Ronald C. Georgia Inst Technol Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)9781479977727

The cognitive process that enables many primate species to efficiently traverse their environment has been a subject of numerous studies. Mental rotation is hypothesized to be one such process. The evolutionary causes for dominance in primates of mental rotation over its counterpart, rotational invariance, is still not conclusively understood. Advice-giving offers a possible explanation for this dominance in more evolved primate species such as humans. This project aims at exploring the relationship between advice-giving and mental rotation by designing a system that combines the two processes in order to achieve successful navigation to a goal location. Two approaches to visual advice-giving were explored namely, segment based and object based advice-giving. The results obtained upon execution of the navigation algorithm on a Pioneer 2-DX robotic platform offers evidence regarding a linkage between advice-giving and mental rotation. An overall navigational accuracy of 90.9% and 71.43% were obtained respectively for the segment-based and object-based methods. These results also indicate how the two processes can function together in order to accomplish a navigational task in the absence of any external aid, as is the case with primates.

关键词： cognition image segmentation mobile robots navigation object recognition Pioneer 2-DX robotic platform advice-giving cognitive process goal location mental rotation navigation algorithm navigational accuracy object-based method primate species primate-inspired autonomous navigation rotational invariance segment-based method Accuracy Feature extraction Image segmentation Matrix decomposition navigation Object recognition Robots Mental Rotation object recognition navigation image segmentation cognitive process matrix decomposition Mobile robots Robot Feature extraction Primates Cognition object orientation

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Artemis I Optical navigation System Performance

Artemis I Optical Navigation System Performance

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AIAA SciTech Forum

作者： Inman, Rebecca Holt, Greg Christian, John Smith, Kyle D'Souza, Christopher NASA Johnson Space Ctr Houston TX 77058 USA Georgia Inst Technol Guggenheim Sch Aerosp Engn Atlanta GA 30332 USA Charles Stark Draper Lab Houston TX 77058 USA NASA Langley Res Ctr Houston TX USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper summarizes the assessment of the Optical navigation Flight Test Objective (FTO) during the flight of Artemis I. The Optical navigation (OpNav) System was tested under a variety of range, target, and lighting conditions to evaluate the performance compared to the pre-flight predicted error models. In general, OpNav performed very well-successfully processing over a thousand images of starfields, Earth, and Moon. The performance of the algorithm when processing Moon images matched the pre-flight expected error models. The errors when processing Earth images were notably higher than the preflight models predicted, however this was found to be due to an over-estimation of the atmosphere bias used in the tuning of the algorithm. After the bias was re-tuned and the images reprocessed, performance significantly improved.

关键词： Moon Planets Flight Testing Iterative algorithm Earth Atmosphere Image Processing Thermal Effects Star Tracker navigation algorithm System Architectures

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Lidar-Based Safe Site Relative navigation

Lidar-Based Safe Site Relative Navigation

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AIAA SciTech Forum

作者： Ward, Kari C. Smith, Kyle W. Rowe, Isaac S. Harper, Jeanette M. Adams, Davis W. Pedrotty, Samuel M. Mendeck, Gavin F. Charles Stark Draper Lab Cambridge MA 02139 USA Aerodyne Ind Jacobs JETS II Contract Cape Canaveral IL USA Odyssey Space Res Houston TX USA NASA Johnson Space Ctr Moffett Field CA USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

There has been a renewed focus in exploration of the lunar surface and maximizing scientific potential of such missions is made possible in part by minimizing the time required to set up operations;that is, reducing transit time on the surface by increasing the landing precision with respect to the intended target. Established Safe and Precise Landing-Integrated Capability Evolution (SPLICE) project precision landing requirements necessitate a navigation filter architecture and underlying models developed specifically with these needs in mind. To date, test flights to characterize SPLICE guidance and navigation (GN) system performance have not provided a means to divert from the a priori selected landing site (LS) due to hazardous conditions. With the inclusion of a new sensor, the hazard detection lidar (HDL), coupled with safe landing site selection algorithms, GN can divert from the originally planned trajectory and navigate relative to the new targeted landing site. This work presents a novel hazard relative measurement model and covariance transformation methodology that enable the navigation system to inform a safe-site relative guidance profile to meet project precision landing goals.

关键词： LIDAR Sensors Entry, Descent, and Landing Selection algorithm Extended Kalman Filter Terrain Relative navigation Planets Johnson Space Center Uncertainty Quantification navigation algorithm

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