This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba＇s Problem is int...
详细信息
This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba＇s Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive.
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems...
详细信息
ISBN:
(纸本)9781509041039
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT controlsystem is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.
This paper studies mean-square stabilization and optimal control problems via state feedback for linear discrete-time systems with state and control multiplicative noises. We first show that in general the state feedb...
详细信息
暂无评论