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Hybrid dynamical moving task allocation methodology for distributed multi-robot coordination system

Hybrid dynamical moving task allocation methodology for dist...

引用

IEEE International Conference on mechatronics and Automation

作者： Guanghui Li Shuiguang Tong Yang Li Feiyun Cong Zheming Tong Atsushi Yamashita Hajime Asama School of Mechanical Engineering Zhejiang University Hangzhou Zhejiang Province P. R. China R&D Center of Mechatronics and Intelligent Control Zigong Innovation Center of Zhejiang University Zigong Sichuan Province P. R. China Department of Precision Engineering The University of Tokyo Bunkyo-ku Tokyo Japan

ISBN: (纸本)9781479970995

Dynamical moving task allocation in complex environment for distributed multi-robot coordination system is mainly investigated. We proposed a hybrid dynamical moving task allocation method in this paper, when either robots or tasks update their conditions, robots independently select tasks from a combinatorial cost table as to minimize an objective function. And we use two sample time thresholds for robots to decide the conditions of robots and tasks, and reallocate tasks. To validate our approach, we integrated the proposed dynamical moving task allocation method with our previously developed path planning method and applied it to the distributed multi-robot coordination system problem. Simulation results demonstrated the efficiency and robustness of our proposed task allocation method even under communication failures and robots malfunctions.

关键词： Robot kinematics Resource management Robustness Simulation Linear programming Heuristic algorithms

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A modeling and compensation method for IPMC sensors

A modeling and compensation method for IPMC sensors

引用

Chinese control Conference (CCC)

作者： Suming Xu Yonghong Tan Ruili Dong Research Center of Precision Mechatronics Systems and Control Engineering Shanghai Normal University 200234 China

Ionic Polymer-Metal Composite (IPMC) is a new smart material which has sensing capability. In this paper, an experimental setup to characterize IPMC sensor is developed and corresponding sensor model is constructed based on neural networks. Similar to the other smart materials, intrinsic hysteresis nonlinearity is inherent in IPMC sensors. In this case, a hysteresis operator is introduced to transform the multi-valued mapping of hysteresis to a one-to-one mapping. Then, the corresponding neural model can be constructed by the neural network on the expanded input space. In order to compensate the nonlinearity of IPMC sensor, an inverse model is also constructed to form a feedforward compensator for the sensor. Finally, experimental results are presented to validate the proposed method of hysteresis compensation.

关键词： Polymers Hysteresis Intelligent sensors Sensor phenomena and characterization Neural networks Voltage measurement

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Identification of sandwich systems with hysteresis based on two-stage method

Identification of sandwich systems with hysteresis based on ...

引用

作者： Xie, Yangqiu Tan, Yong Hong Dong, Ruili School of Electronic Engineering Xidian University Xi'an 710071 China College of Mechanical and Electronic Engineering Shanghai Normal University Shanghai 201418 China Center of Precision Mechatronics and Control Engineering Shanghai Normal University Shanghai 201418 China

ISBN: (纸本)9780955529337

In this paper, a two-stage method for identification of the sandwich systems with hysteresis is proposed. In the first stage of this method, a monotonic and independently incremental signal is used to degenerate the hysteresis into a static function with one-to-one mapping. Thus, the sandwich system with hysteresis can be transformed into a system described by the combination of the transformed variables and the separated parameters based on the key term separation principle. Therefore, the parameters of the linear subsystems are estimated by the Recursive General Identification Algorithm (RGJA) since the transformed model is of the form containing linear coefficients. Then, in the second stage, based on the obtained linear subsystem models, the sandwich system with hysteresis is re-excited by a sine signal with attenuated amplitude. In this case, the hysteresis subsystem can be identified using neural networks based on the expanded input space method. Finally, the corresponding experimental results are presented.

关键词： Hysteresis

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Identification of sandwich systems with hysteresis based on two-stage method

Identification of sandwich systems with hysteresis based on ...

引用

International Conference on Modelling, Identification and control (ICMIC)

作者： Yangqiu Xie Yonghong Tan Ruili Dong School of Electronic Engineering Xidian University Xi'an China College of Mechanical and Electronic Engineering Shanghai Normal University Shanghai China Center of Precision Mechatronics and Control Engineering Shanghai Normal University Shanghai China

In this paper, a two-stage method for identification of the sandwich systems with hysteresis is proposed. In the first stage of this method, a monotonic and independently incremental signal is used to degenerate the hysteresis into a static function with one-to-one mapping. Thus, the sandwich system with hysteresis can be transformed into a system described by the combination of the transformed variables and the separated parameters based on the key term separation principle. Therefore, the parameters of the linear subsystems are estimated by the Recursive General Identification Algorithm (RGIA) since the transformed model is of the form containing linear coefficients. Then, in the second stage, based on the obtained linear subsystem models, the sandwich system with hysteresis is re-excited by a sine signal with attenuated amplitude. In this case, the hysteresis subsystem can be identified using neural networks based on the expanded input space method. Finally, the corresponding experimental results are presented.

关键词： Hysteresis

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Motion planning of multiple mobile robots with formation requirement

Motion planning of multiple mobile robots with formation req...

引用

International Conference on Information and Automation (ICIA)

作者： Shuang Liu Dong Sun Changan Zhu Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong Suzhou Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Precision Instrumentations University of Science and Technology Hefei China

ISBN: (纸本)9781424457014

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a velocity optimization problem. An objective function to minimize the formation errors is established. A solution to achieve this objective function is obtained by the optimizer of LINGO (a linear interactive and general optimizer). Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach.

关键词： Motion planning Mobile robots Robot kinematics Acceleration Path planning Manufacturing automation Technology planning Collision avoidance Mathematical programming Robot programming

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Coordinated Motion Planning of Multiple Mobile Robots in Formation

Coordinated Motion Planning of Multiple Mobile Robots in For...

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The 8th World Congress on Intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Shuang Liu Dong Sun Changan Zhu Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong and the Unive Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Ho Department of Precision Machinery and Instrumentations University of Science and Technology of China

This paper presents an approach to coordinating a group of mobile robots that move along the designed paths. Subject to the constraints of velocity/acceleration bounds and collision avoidance, the robots are required to maintain the formation relationship while moving. The coordination is realized by posing the coordination problem as a velocity optimization problem in motion planning and then properly planning robots’ velocities along the paths. The linear interactive and general optimizer (lingo) is utilized to achieve the velocity optimization goal. Simulations are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach in coordinated motion planning with the formation requirement.

关键词： Robot kinematics Collision avoidance Planning Optimization Mobile robots Acceleration

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A model based compensator for rate-dependent hysteresis in piezoelectric actuators

A model based compensator for rate-dependent hysteresis in p...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Xinliang Zhang Yonghong Tan Ruili Dong Yangqiu Xie School of Electrical Engineering and Automation Henan Polytechnic University Henan China College of Mechanical and Electronic Engineering Shanghai Normal University Shanghai China Center of Precision Mechatronics and Control Engineering Shanghai Normal University Shanghai China School of Electronic Engineering Xidian University Xi'an China

A feedforward compensator for rate-dependent hysteresis in piezoelectric actuators (PEA) is proposed. In this method, a model with parallel structure is proposed to approximate both hysteretic behavior and rate-dependent feature of the PEA. In the model, the rate-independent hysteretic performance is approximated by a neural network based on the so called expanded input space method, while the rate-dependent behavior of the hysteresis is approximated by a network with the sum of weighted first-order difference operators. To transform the multi-valued mapping of the hysteresis into a one-to-one mapping, the expanded input space with a hysteretic operator is constructed. Then, the corresponding neural inverse sub-model is obtained. After that, a compensator is constructed to compensate for the effect of the rate-dependent hysteresis in the PEA. Finally, the experimental results of applying the proposed method to a piezoelectric actuator are presented.

关键词： Hysteresis Artificial neural networks Piezoelectric actuators Adaptation model Feedforward neural networks Training Trajectory

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Motion planning of multirobot formation

Motion planning of multirobot formation

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shuang Liu Dong Sun Changan Zhu University of Science and Technology Suzhou China Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong Suzhou Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Instrumentations University of Science and Technology Hefei China

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity optimization process. An objective function for minimizing formation errors is established and solved by a linear interactive and general optimizer. Motion planning can be further adjusted online to address emergent demands such as avoiding suddenly-appearing obstacles. Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed coordinated motion planning in multirobot formations.

关键词： Robot kinematics Collision avoidance Planning Optimization Mobile robots Lead

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A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots

A dynamic priority strategy in decentralized motion planning...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shuang Liu Dong Sun Changan Zhu Wen Shang Control and Mechatronics Group Suzhou Research Center University of Science and Technology Suzhou China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Instrumentations University of Science and Technology Hefei China Suzhou Research Center City University of Hong Kong Suzhou Hong Kong China

This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system.

关键词： Motion planning Strategic planning Mobile robots Robot kinematics Intelligent robots Sun Collision avoidance Path planning USA Councils Interference

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Model-based subnano-positioning control

Model-based subnano-positioning control

引用

22nd Annual Meeting of the American Society for precision engineering, ASPE 2007

作者： Van Hulzen, J. Van Eijk, J. Van Den Hof, P.M.J. Precision and Microsystems Engineering Department Mechatronics Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

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