检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Yanrong Hu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a knowledge based genetic algorithm (GA) for path planning of a mobile robot is proposed, which uses problem-specific genetic algorithms for robot path planning instead of the standard GAs. The proposed knowledge based genetic algorithm incorporates the domain knowledge into its specialized operators, where some also combine a local search technique. The proposed genetic algorithm also features a unique and simple path representation and a simple but effective evaluation method. The knowledge based genetic algorithm is capable of finding an optimal or near-optimal robot path in both complex static and dynamic environments. The effectiveness and efficiency of the proposed genetic algorithm is demonstrated by simulation studies. The irreplaceable role of the specialized genetic operators in the proposed GA for solving robot path planning problem is demonstrated by a comparison study.

关键词： Genetic algorithms Path planning Mobile robots Biological cells intelligent robots Encoding intelligent systems Genetic engineering Knowledge engineering Neural networks

来源：评论

学校读者我要写书评

暂无评论

A fuzzy logic approach to reactive navigation of behavior-based mobile robots

A fuzzy logic approach to reactive navigation of behavior-ba...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Anmin Zhu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel fuzzy logic control system is developed for reactive navigation of a behavior-based mobile robot in dynamic environments. A combination of multiple sensors is equipped to sense the obstacles near the robot, the target location and the current robot speed. A fuzzy logic system with 48 fuzzy rules is designed, which consists of three behaviors: target seeking, obstacle avoidance and barrier following. The "symmetric indecision" problem is resolved by several mandatory-turn rules, while the "dead cycle" problem is resolved by a state memory strategy. Under the control of the proposed fuzzy logic model, the mobile robot can preferably "see" the environment around, and avoid static and moving obstacles automatically. The robot can generate reasonable trajectories toward the target in various situations without suffering from the "symmetric indecision" and the "dead cycle" problems. The effectiveness and efficiency of the proposed approach are demonstrated by simulation studies.

关键词： Fuzzy logic Navigation Mobile robots Robot kinematics Robot sensing systems intelligent robots Fuzzy systems Uncertainty Humans Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

VISUAL INFORMATION ACQUISITION IN VERTEBRATE RETINA

引用

International Journal of Information Acquisition 2004年第1期1卷 67-76页

作者： SIMON X. YANG Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada

In this paper, visual information acquisition in vertebrate retina is investigated using a novel neural network model. The neural network is based on the neural anatomy and function of retinal neurons in tiger salamander and mudpuppy. All the main types of retinal neurons are modeled, and their response characteristics are studied. The objective is to model the information acquisition in vertebrate retina with a simple yet effective neural network architecture. The model predictions on the main characteristics of retinal neurons are in agreement with the neurophysiological data. This study not only offers insight into the biological strategy and mechanism on the early visual information acquisition in vertebrate retina, but also has potential industrial applications such as VLSI chip design for efficient visual and movement sensors.

关键词： Visual information retinal neurons neural network neural dynamics

来源：评论

学校读者我要写书评

暂无评论

Neural dynamics based full-state tracking control of a mobile robot

Neural dynamics based full-state tracking control of a mobil...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.X. Yang Haowen Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, a novel biologically inspired approach to real-time tracking control of a nonholonomic mobile robot is proposed. The proposed algorithm incorporates a neural dynamics model derived from a biological membrane equation with the conventional full-state tracking control technique. It is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow desired trajectories. The proposed approach resolves the speed jump problem existing in some previous tracking controllers. In addition, it can track both continuous and discrete paths. The practicality and effectiveness of the proposed tracking controller were demonstrated by simulation and comparison results.

关键词： Mobile robots intelligent robots Neural networks Biological control systems Navigation Trajectory Robot control Feedback control Target tracking Polynomials

来源：评论

学校读者我要写书评

暂无评论

intelligent obstacle avoidance for an autonomous mobile robot

Intelligent obstacle avoidance for an autonomous mobile robo...

引用

World Congress on intelligent Control and Automation (WCICA)

作者： Xiaochuan Wang S.X. Yang M.Q.-H. Meng Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, an intelligent obstacle-avoidance approach to autonomous navigation of a mobile robot in unknown environments is developed using the neuro-fuzzy technique. A combination of four infrared sensors is equipped to detect the distance of obstacles around the mobile robot. The distance information is processed by the proposed neuro-fuzzy controller to adjust the velocities of the differential-drive system of the mobile robot. Simulation and experimental results demonstrate the effectiveness of the developed neuro-fuzzy controller.

关键词： intelligent robots Mobile robots Fuzzy logic Fuzzy systems Neural networks Navigation Control systems Orbital robotics Space exploration Fuzzy neural networks

来源：评论

学校读者我要写书评

暂无评论

Biologically inspired tracking control of mobile robots with bounded accelerations

Biologically inspired tracking control of mobile robots with...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.X. Yang A. Zhu M.Q.-H. Meng Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

In this paper, a novel biologically inspired tracking controller is proposed for real-time navigation of nonholonomic mobile robots, which is inspired by the agonist/antagonist effects in muscular sensory motor reaction of a gated dipole neural model. Through the incorporation of the biological computation element, the proposed controller is capable of generating smooth, bounded acceleration command signals for the mobile robot to track reference paths. It resolves the velocity jump problem in the conventional backstepping controllers that result from the initial tracking errors or the discontinuities in discrete paths. In addition, the proposed controller removes the unpractical assumption of "perfect velocity tracking" in some existing approaches. The effectiveness and efficiency of the proposed approach are demonstrated by simulation and comparison studies.

关键词： Robot control Biological control systems Mobile robots Acceleration Velocity control Navigation Biological system modeling Biology computing Signal generators Signal resolution

来源：评论

学校读者我要写书评

暂无评论

Using a non-prior training active feature model

Lecture Notes in Computer Science (including subseries Lectu...

引用

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag 2004.

关键词： Optical flows

来源：评论

学校读者我要写书评

暂无评论

Path planning of multi-robot systems with cooperation

Path planning of multi-robot systems with cooperation

引用

IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： A. Zhu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Canada

In this paper, a novel gated dipole based approach is proposed for path planning of a multi-robot system, where the cooperative control strategy is based on the multi-agent systems. The system stability is guaranteed by a Lyapunov stability theory. The proposed approach is capable of generating collision-free paths for a multi-robot system in various situations, such as robots with different speed, with limited measurable sensor information, and in completely unknown environments. The effectiveness and efficiency of the proposed approach is demonstrated by simulation studies.

关键词： Path planning Multirobot systems Robot kinematics Orbital robotics Mobile robots intelligent robots Robot sensing systems Stability State-space methods Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Self-organizing behavior of a multi-robot system by a neural network approach

Self-organizing behavior of a multi-robot system by a neural...

引用

IEEE International Workshop on intelligent Robots and systems (IROS)

作者： Anmin Zhu S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel neural network approach to self-organizing behavior of a multi-robot system is proposed, which is capable of controlling a group of mobile robots to achieve multiple tasks at several different locations, such that the desired number of robots will arrive at every target location from any arbitrary initial robot locations. The proposed model is based on a self-organizing map (SOM) neural network. Unlike some conventional approaches to multi-robot path planning for multiple tasks where the task assignment and path planning are handled separately, this model combines the robot task requirement and motion planning together, such that the robots can start to move once the total tasks are set. The robot navigation can be dynamically adjusted to guarantee each target location will have the desired number of robots, even under unexpected uncertainties, such as one robot breaks down. In addition, unlike the conventional models that are suitable for static environment only, the proposed approach is also capable of dealing with changing environment. The effectiveness of the proposed approach is demonstrated by simulation studies.

关键词： Multirobot systems Neural networks Robot kinematics Mobile robots Robot sensing systems intelligent robots Path planning Control systems Costs intelligent systems

来源：评论

学校读者我要写书评

暂无评论

Genetic algorithm based path planning for a mobile robot

Genetic algorithm based path planning for a mobile robot

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jianping Tu S.X. Yang Advanced Robotics and Intelligent Systems ARIS Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel genetic algorithm based approach to path planning of a mobile robot is proposed. The major characteristic of the proposed algorithm is that the chromosome has a variable length. The location target and obstacles are included to find a path for a mobile robot in an environment that is a 2D workplace discretized into a grid net. Each cell in the net is a gene. The number of genes in one chromosome depends on the environment. The locations of the robot, the target and the obstacle are marked in the workplace. The proposed algorithm is capable of generating collision-free paths for a mobile robot in both static and dynamic environments. In a static environment, the generated robot path is optimal in the sense of the shortest distance. The effectiveness of the proposed model is demonstrated by simulation studies.

关键词： Genetic algorithms Path planning Mobile robots Biological cells Fuzzy logic Evolutionary computation intelligent robots Employment Robot sensing systems Fuzzy systems

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：