检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

An approach to global motion planning for autonomous mobile robots has been developed on the basis of traversability vectors (t-vectors). Through the overall course of this research it was found that t-vectors provide a utility, efficiency and mathematical stability for collision detection and visibility that cannot be matched by commonly used algebraic approaches in static and dynamic environments. This paper will show that t-vectors also impact global motion planning by identifying redundancies in visibility graphs (V-graphs) and expediting their construction. The result of eliminating redundant path segments is a streamlined version of the V-graph called the essential visibility graph (EVG). This paper will also show that the EVG offers a significant reduction in data storage requirements and complexity.

关键词： Motion planning Mobile robots Memory intelligent robots Routing Robot sensing systems Machine intelligence Stability Aerodynamics Trajectory

来源：评论

学校读者我要写书评

暂无评论

Autonomous mobile robot self-referencing with sensor windows and neural networks

Autonomous mobile robot self-referencing with sensor windows...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R. Gutierrez-Osuna M.G. Kay R.C. Luo Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

When navigating an environment a mobile robot can update its position and orientation by searching known landmarks and compare predictions with observations. This paper presents a method of mobile-robot self-referencing where every mapped object (obstacles to the global motion planner) in the environment can be used as potential sources of position and orientation information. This approach employs the efficiency of traversability vectors (t-vectors) for finding in-range geometric beacons and isolating surfaces visible to a sensor. Configuration-space (C-space) buffering (growing polygons to keep motion a safe distance from objects) will reduce the search time for finding in-range geometric beacons. Finally, a small multilayered neural network is used to provide a credence value for each predicted range that can be factored in to a filter or control strategy. This approach can be generalized to any ranging sensor that samples a region (e.g. IR sensors).

关键词： Mobile robots Neural networks Robot sensing systems intelligent sensors intelligent robots Filters Predictive models intelligent networks Machine intelligence computer networks

来源：评论

学校读者我要写书评

暂无评论

Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

引用

IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

来源：评论

学校读者我要写书评

暂无评论

Global self-localization for autonomous mobile robots using self-organizing Kohonen neural networks

Global self-localization for autonomous mobile robots using ...

引用

Proceedings 1995 IEEE/RSJ International Conference on intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： J.A. Janet R. Gutierrez-Osuna T.A. Chase M. White R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

An approach to global self-localization for autonomous mobile robots has been developed using self-organizing Kohonen neural networks. This approach categorizes discrete regions of space using mapped sonar data corrupted by noise of varied sources and ranges. Our approach is similar to optical character recognition (OCR) in that the mapped sonar data can, over time, assume the form of a character unique to that room. Hence, it is believed that an autonomous vehicle can be capable of determining which room it is in based on mapped sensory data ascertained by wandering through and exploring that room. With some pre-processing and a robust explore routine, the solution becomes time-, translation- and rotation-invariant.

关键词： Mobile robots Sonar Optical noise Optical character recognition software Neural networks Optical computing Optical sensors Character recognition Remotely operated vehicles Robustness

来源：评论

学校读者我要写书评

暂无评论

Complete algorithms for reorienting polyhedral parts using a pivoting gripper

Complete algorithms for reorienting polyhedral parts using a...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Rao D. Kriegman K. Goldberg Department of Computer Science Utrecht University Postbus Utrecht Netherlands Center for Systems Science Department of Electrical Engineering Yale University New Heaven CT USA University of Utrecht Netherlands Institute for Robotics and Intelligent Systems Department of Computer Science University of Southern California Los Angeles CA USA

To rapidly feed industrial parts on an assembly line, Carlisle et. al. (1994) proposed a flexible part feeding system that drops parts on a flat conveyor belt, determines the pose of parts with a vision system and manipulates them into a desired pose. A robot arm with 4-DOF is capable of moving parts through 6-DOF when equipped with a passive pivoting axis between the parallel jaws of its gripper. We refer to these actions as pivot grasps. This paper considers the planning problem. Given a polyhedral part shape, coefficient of friction and a pair of stable configurations as input, find pairs of grasp points that will cause the part to pivot from one stable configuration to the other. For some transitions, pivot grasps may not exist. For a part with n faces and m stable configurations, we give an O(m/sup 2/n log n) algorithm to generate the m/spl times/m matrix of pivot grasps. When the part is star shaped, this reduces to O(m/sup 2/n). We also study a generalization that considers "capture regions" around stable configurations. Both algorithms are complete in that they are guaranteed to find pivot grasps when they exist.

关键词： Grippers robotics and automation Service robots Feeds Belts Machine vision computer science intelligent robots Manipulators Robotic assembly

来源：评论

学校读者我要写书评

暂无评论

LONGITUDINAL CONTROL OF THE LEAD CAR OF A PLATOON

引用

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 1994年第4期43卷 1125-1135页

作者： GODBOLE, DN LYGEROS, J Department of Electrical Engineering and Computer Intelligent Machines and Robotics Laboratory University of California Berkeley CA USA

We present longitudinal control laws for vehicles moving in an intelligent Vehicle Highway System (IVHS) [1], [2]. In particular, the scenario where cars move along the highway in;tightly spaced platoons is considered. We present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given in the Appendix.

关键词： LONGITUDINAL CONTROL Moving lead vehicle optimal velocity vehicle Carina Automated highways Simulation results intelligent vehicle highway system Cars Freeway control law

来源：评论

学校读者我要写书评

暂无评论

T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

引用

1994 IEEE/RSJ International Conference on intelligent Robots and Systems, IROS 1994

作者： Janét, Jason A. Luo, Ren C. Kay, Michael G. Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

ISBN: (纸本)0780319338

A motion planning and self-referencing approach has been developed, simulated and applied to an actual robot. Although there are several novelties to these approaches, the fact that both are based on traversability vectors (t-vectors) is one aspect of this research that is unique. Through their application it has been found that t-vectors enhance the detection of path obstructions and geometric beacons and expedite the identification of features that are visible (or hearable) to sensors in both static and dynamic environments. T-vectors also reduce the data size and complexity of standard V-graphs and variations thereof. This paper provides the t-vector models step-by-step so that the reader will be able to apply them to mobile robot motion planning and self-referencing. © 1994 Institute of electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Vectors

来源：评论

学校读者我要写书评

暂无评论

T-vectors make autonomous mobile robot motion planning and self-referencing more efficient

T-vectors make autonomous mobile robot motion planning and s...

引用

IEEE International Workshop on intelligent Robots and Systems (IROS)

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

关键词： Mobile robots Motion planning intelligent robots Vehicle dynamics Path planning Machine intelligence Computational modeling computer simulation Robot sensing systems Sensor phenomena and characterization

来源：评论

学校读者我要写书评

暂无评论

Fuzzy behavior fusion for reactive control of an autonomous mobile robot: MARGE

Fuzzy behavior fusion for reactive control of an autonomous ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S.G. Goodridge R.C. Luo Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A distributed heterogeneous network of fuzzy control agents has been developed for reactive behavior-based control of an autonomous mobile robot This methodology allows the authors' vehicle, MARGE, to perform realistic tasks in unstructured environments. Control actions for the robot are generated by a colony of independent agents that compete and cooperate to determine the emergent motion of the vehicle. Fuzzy rules are used to implement a diverse array of real-time functions within one simple development environment. The authors' multi-layer approach differs from other methods that perform the fuzzy inference mapping in one step. Real-time control without special hardware is possible by using a singleton centroid calculation and by breaking complex behaviors down into simple modules.< >

关键词： Fuzzy control Mobile robots Fuzzy sets Robot sensing systems Error correction intelligent robots Vehicles Navigation Programming profession Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

Autonomous mobile robot motion planning enhanced with extended configuration-space and half-planes

Autonomous mobile robot motion planning enhanced with extend...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： J.A. Janet R.C. Luo M.G. Kay Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

It is commonly argued that C-space buffering is too computationally expensive, consumes too much free space, keeps the robot too close to objects, seals off marginally traversable regions and does not allow for curved path segments. However, the research described in this paper uses half-planes and doors to extend C-space so that mobile robot global motion planning is not only safe and fluid, but also unhindered by tight passageways. Further, it is shown that free space consumption is limited to only what the robot needs to circumnavigate known obstacles.< >

关键词： Mobile robots Motion planning Orbital robotics intelligent robots Computational intelligence Machine intelligence Seals Acceleration Object detection Safety

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：