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An Overview on Behaviour-Based Methods for AUV Control

IFAC Proceedings Volumes 2000年第21期33卷 141-146页

作者： M. Carreras J. Batlle P. Ridao G.N. Roberts Computer Vision and Robotics Group University of Girona Edifici Politècnica II Campus Montilivi 17071 Girona Spain Mechatronics Research Centre University of Wales College Newport Allt-yr-yn Campus PO Box 180 Newport South Wales NP20 5XR UK

Traditionally, deliberative reasoning methods based on a world model have been used to guide Autonomous Vehicles. Nevertheless, due to serious problems when dealing with complex and changing environments the alternative approach of reactive architectures appeared, directly coupling perception and action without any world representation. This paper describes the characteristics and variants of reactive architectures as well as four of the most suitable ones to guide Autonomous Underwater Vehicles: Schema-based approach, Subsumption, Process Description Language and Action Selection Dynamics. Each architecture is described and evaluated using an underwater simulator with an AUV model.

关键词： Autonomous Vehicles Artificial Intelligence Control Systems Marine Systems Robot navigation Vehicle Simulation

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Steering and Depth Control of an Underwater Robot Using Fuzzy-Like PD Controller

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IFAC Proceedings Volumes 2000年第21期33卷 239-244页

作者： I.S. Akkizidis G.N. Roberts P. Ridao J. Batlle Mechatronics Research Centre University of Wales College Newport Allt-yr-yn Campus PO Box 180 Newport South Wales NP9 5XR UK Computer Vision and Robotics Group Institute of Informatics and Applications Edifici Politècnica II Campus Montilivi 7071-Girona SPAIN

The design of a steering and depth control of an underwater vehicle is of interest from the point of view of motion stabilisation as well as manoeuvring performance. The paper describes how a Fuzzy-like Proportional Derivative Controller (Fuzzy-like PD Control) is used to control the course-changing and course-keeping tracking mission and motion of an underwater vehicle. The idea for this type of control architecture is to identify the optimum values, in terms of control performance and robustness, of the parameters of the F-like PD Controller. These parameters may be the scaling factors that are applied in the input/output of the PD part of the controller as well as the fuzzy sets of the fuzzy part of the controller. The values of the scaling factors for the error, the change-of-error and the control output are optimised based on experiments. In this work a method has been developed to control the yaw and depth of an underwater robot in terms of course-changing and course-keeping. The controller is synthesised in two parts. Firstly it is applied in horizontal xy and secondly in vertical xz surface. Experiments in a real environment were planned using the Taguchi Design of Experiments and performed to investigate the capabilities of the controller. The results are presented and analysed extensively.

关键词： Fuzzy like-PD Controller Yaw and Depth Control Taguchi Design of Experiments

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Face model adaptation with active tracking

Face model adaptation with active tracking

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IEEE International Conference on Image Processing

作者： Lijun Yin A. Basu Computer Vision and Robotics Research Laboratory Department of Computing Science University of Alberta Edmonton AB Canada

A system for face model adaptation combining active tracking is presented. Input from an active camera is used for MPEG4 model based coding. First, the background is compensated considering a moving camera (tilt or pan). Second, the talking face is segmented from the compensated background using fusion of frame differences. A morphological filter is then applied to make the system less sensitive to noise. Third, Hough transform and deformable template coupled with color information are exploited to detect the facial features, e.g., eyes, mouth. Fourth, a wireframe model is adapted to the extracted face by an extended dynamic mesh. The feasibility of the proposed system is demonstrated using several real active video sequences.

关键词： Adaptation model Face detection Cameras MPEG 4 Standard Filters Colored noise Facial features Eyes Mouth Data mining

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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New generation of multirobot systems

New generation of multirobot systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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Mobile robot navigation using recursive motion control

Mobile robot navigation using recursive motion control

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Euromicro Workshop on Advanced Mobile Robot

作者： R. Ellepola P. Kovesi Robotics and Vision Research Group Departiiient of Computer Science University of Western Australia Nedlands WA Australia

As a mobile robot travels towards its goal, sensor input is used to modify the path of the robot to prevent collision with obstacles. In conventional programming, when an obstacle is detected by the sensors, control loops are escaped according to the requirements of the executing navigation task. Thus navigational routines have to be written in a loop form with the necessary exit conditions built in. This paper presents an alternative approach, recursive motion control. Recovery paths around obstacles are planned and executed by recursively invoking the motion control software. The approach allows multiple obstacles to be handled in a consistent manner. On completion of the obstacle avoiding sub-path(s) the level of recursion is dropped to allow resumption of the original motion.

关键词： Mobile robots Navigation Motion control Robot kinematics Robot sensing systems Robot vision systems Uncertainty Tactile sensors computer science Tracking loops

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MoNiF: a modular neuro-fuzzy controller for race car navigation

MoNiF: a modular neuro-fuzzy controller for race car navigat...

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

作者： K.C. Ng R. Scorcioni M.M. Trivedi N. Lassiter Computer Vision and Robotics Research Laboratory Electrical anad Computer Engineering Department University of California San Diego CA USA

This paper characterizes how well the modular neuro-fuzzy controller, MoNiF, can perform in robotic applications by testing it in a race-car simulator. The performance of this controller is compared with that of a neural network controller (NNC) and the best programmed car (the ideal car). During the phase of learning from the ideal car, MoNiF reaches its stable performance (when it demonstrates good control) at lap 300; while the NNC requires 700 laps. Without further learning and when competing in the same learning track, MoNiF completes 20 laps of the track about 24 seconds later than the ideal car but 29 second ahead of the NNC car. However, when they all are competing in different unfamiliar tracks, MoNiF performs comparably to the ideal car, while NNC has completely lost its ability to drive. Observing the behaviors of NNC and MoNiF, we conclude that MoNiF learns to refine the output of expert rules and thus can drive in most tracks. Meanwhile NNC learns to drive in a particular track but loses its generality for other tracks. It is shown that this modular control method, equipped with the pretrained knowledge of only few simple expert rules, learns much faster than a NNC without any apriori knowledge.

关键词： Navigation Neural networks computer vision Robot vision systems Application software computer simulation Target tracking Laboratories Performance evaluation Testing

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A fast and accurate 3-D rangefinder using the Biris technology: the TRID sensor

A fast and accurate 3-D rangefinder using the Biris technolo...

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： F. Loranger D. Laurendeau R. Houde Computer Vision and Systems Laboratory (CVSL) Electrical and Computer Engineering Department Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes Canada

In many industrial applications such as autonomous vehicle guidance and robotic manipulations, reliable 3-D informations must be extracted from the scene in order to provide a robust description of the environment in which the system evolves. This paper presents the TRID sensor, a simple, fast, robust and accurate 3-D sensing device based on the Biris technology. TRID is limited to a lateral resolution of one point. Experimental results show that an accuracy better than 0.15% can be obtained for the depth component (Z) of 3-D points at a distance of 1.3 meter from a wooden black painted beam surface with an acquisition rate of 8.5 points/s.

关键词： Robot vision systems Robustness computer vision Application software Robot kinematics Layout Cameras computer industry Costs Geometrical optics

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The area bisectors of a polygon and force equilibria in programmable vector fields 97

The area bisectors of a polygon and force equilibria in prog...

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Proceedings of the thirteenth annual symposium on Computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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