This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic ...
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This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.
A method for calculation of maximum allowable gain or closed Ioop systems having plants with structured uncertainties is given. The method accommodates plant transfer functions with linearly dependent coefficient pert...
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A method for calculation of maximum allowable gain or closed Ioop systems having plants with structured uncertainties is given. The method accommodates plant transfer functions with linearly dependent coefficient perturbations in the denominator polynomial and first order multiplicative coefficient perturbations in the numerator polynomial. Examples are given which show the versatility of the calculation.
A navigation strategy for an autonomous land vehicle (ALV) based on the Defence Geographic Database is currently being developed under the auspices of the Mobile advancedrobotics Defence Initiative (MARDI). The datab...
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A navigation strategy for an autonomous land vehicle (ALV) based on the Defence Geographic Database is currently being developed under the auspices of the Mobile advancedrobotics Defence Initiative (MARDI). The database is hierarchically structured, and supports the storage of an unlimited number of attributes for each geographical feature. It also expressly identifies the interconnectivity of adjacent features, making it ideal for automatic route calculation. Tactical battlefield information is being combined with the database resulting in a composite link-node map which will be searched for optimum routes using standard algorithms. Both military and geographical criteria will be simultaneously optimized. Waypoints suitable for machine vision techniques will also be extracted and used to confirm the ALV location.
A new dynamic model which represents an exact linearization scheme with a simplified nonlinear feedback is presented in this paper. To realize this model for robotic systems, the output function should be chosen so th...
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A new dynamic model which represents an exact linearization scheme with a simplified nonlinear feedback is presented in this paper. To realize this model for robotic systems, the output function should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is introduced to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robots.
The design and implementation of microprocessor-based optimal controllers for the XM-97 helicopter turret control system is considered. Nonfiring and firing test results are presented. Significant performance improvem...
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A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured ...
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The design and implementation of microprocessor-based optimal controllers for the XM-97 helicopter turret control system is considered. Nonfiring and firing test results are presented. Significant performance improvem...
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The design and implementation of microprocessor-based optimal controllers for the XM-97 helicopter turret control system is considered. Nonfiring and firing test results are presented. Significant performance improvement of the optimal turret over the original turret has been obtained in terms of percent overshoots, settling times, and shot pattern dispersions. The system investigated in this paper may be considered as an interesting and important case study in the design of optimal control systems.
A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured ...
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A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured observers. Interesting relationships and important properties among various full-order observers are established. Optimal discrete-time observer gains are then derived, and it is shown that the optimal observers can be structually and numerically equivalent to various forms of Kalman filters.
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