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An overview of the simultaneous localization and mapping on mobile robot

An overview of the simultaneous localization and mapping on ...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Li, Jie Cheng, Lei Wu, Huaiyu Xiong, Ling Wang, Dongmei Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China Control Engineering Open Lab of Key Subjects of Henan Province Jiaozuo China

ISBN: (纸本)9780956715715

Localization and map building of mobile robots is a fundamental and important problem in research on robotics. This paper comprehensively surveyed the simultaneous localization and mapping (SLAM) of robot under the unknown environment. The researches of mobile robot SLAM all of the world in recent years are summarized and analyzed. The basic idea of the SLAM and the characteristics and categories of the map representation and self-location based on probability theory are detailedly analyzed and described in this paper. At the same time, the characteristics and limitations of the various research methods for SLAM are pointed out, and two typical implementing mechanisms of the SLAM are introduced. © 2012 Huazhong Univ of Sci & Tec.

关键词： Mobile robots

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A flocking control mechanism based on the mode of internet of things

A flocking control mechanism based on the mode of internet o...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Wang, Jun Cheng, Lei Wu, Huaiyu Jin, Pian Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China Control Engineering Open Lab of Key Subjects of Henan Province Jiaozuo China

ISBN: (纸本)9780956715715

Flocking, which denotes the behavior of self-organization and coordination, is suitable for multi-robot applications in terms of cooperative transport and collaborative patrol. The Internet of Things as a recently proposed technology has been paid much attention to by many researchers in recent years. Because it is a ubiquitous network system and has many unique features and functions, the Internet of Things in the use of flocking control methods is a promising and potential future research direction. In this paper, there are two main contributions. One is that we summarize various existing flocking algorithms of Multi-robot ranging from different basic methods and different analysis tools to different environments. The other one is that we propose a novel flocking method based on the Internet of Things. © 2012 Huazhong Univ of Sci & Tec.

关键词： Internet of things

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Ubiquitous localization method on mobile robot in the internet of things

Ubiquitous localization method on mobile robot in the intern...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Liu, Bo Cheng, Lei Wu, Huaiyu Chen, Yang Wang, Fen Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China Control Engineering Open Lab Key Subjects of Henan Province Jiaozuo China

ISBN: (纸本)9780956715715

Mobile robot's ubiquitous localization is one of the new and challenging issues in the Robot field. The ubiquitous localization method is suitable for any environment, ranging from 2D space to 3D space, simple environment to complex environment. The Internet of Things is a ubiquitous network system, via which the ubiquitous localization of a mobile robot is attainable. This paper analysis the advantages and disadvantages of the several common used localization scheme in 2D and 3D space in the Internet of Things. Some problems regarding potential control theory are also pointed out, and the effective methods and ideas to solve these problems are given. © 2012 Huazhong Univ of Sci & Tec.

关键词： Wireless sensor networks

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Some new deformation formulas about variance and covariance

Some new deformation formulas about variance and covariance

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Zhang, Yuli Wu, Huaiyu Cheng, Lei Shenzhen Institute of Advanced Technology Chinese Academy of Science Shenzhen 518055 China Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China Control Engineering Open Lab of Key Subjects of Henan Province Jiaozuo China

ISBN: (纸本)9780956715715

Based on the idea of the difference method, in this paper, the difference method is applied to the calculation of the variance and covariance. The variance and covariance formulas are transformed as some new formulas by the difference method. The articles presented some original new variance and covariance formulas whose form that contains the individual difference, and leads to some corresponding new expansion formulas. The calculation of the variance and covariance about this method is less implicated with the changes of the overall sample. Finally, the theoretical analysis and practical application of image denoising show the feasibility of the new formula. © 2012 Huazhong Univ of Sci & Tec.

关键词： Deformation

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Some New Deformation Formulas about Variance and Covariance

Some New Deformation Formulas about Variance and Covariance

引用

2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Yuli Zhang Huaiyu Wu Lei Cheng Shenzhen Institute of Advanced Technology Chinese Academy of ScienceShenzhen518055China Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Educa Control Engineering Open Lab of Key Subjects of Henan Province JiaozuoChina Engineering Research Ce

ISBN: (纸本)9781467315241

Based on the idea of the difference method, in this paper, the difference method is applied to the calculation of the variance and *** variance and covariance formulas are transformed as some new formulas by the difference *** articles presented some original new variance and covariance formulas whose form that contains the individual difference, and leads to some corresponding new expansion *** calculation of the variance and covariance about this method is less implicated with the changes of the overall ***, the theoretical analysis and practical application of image denoising show the feasibility of the new formula.

关键词： variance covariance deformation formula image denoising

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A Flocking control Mechanism Based on the Mode of Internet of Things

A Flocking Control Mechanism Based on the Mode of Internet o...

引用

2012 International Conference on Modelling,Identification and control(建模、辨别与控制国际会议 ICMIC 2012)

作者： Jun Wang Lei Cheng Pian Jin Huaiyu Wu Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Educa Control Engineering Open Lab of Key Subjects ofHenan Province JiaozuoChina the Engineering Researc Engineering Research Center ofMetallurgical Automation and Measurement Technology Ministry ofEducati

Flocking, which denotes the behavior of self-organization and coordination, is suitable for multi-robot applications in terms of cooperative transport and collaborative *** Internet of Things as a recently proposed technology has been paid much attention to by many researchers in recent *** it is a ubiquitous network system and has many unique features and functions, the Internet of Things in the use of flocking control methods is a promising and potential future research *** this paper, there are two main *** is that we summarize various existing flocking algorithms of Multi-robot ranging from different basic methods and different analysis tools to different *** other one is that we propose a novel flocking method based on the Internet of Things.

关键词： Flocking Internet of Things ubiquitous

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Research of de-noising for micro-mechanical gyro signal based wavelet transform

Research of de-noising for micro-mechanical gyro signal base...

引用

2009 2nd Conference on Power Electronics and Intelligent Transportation System, PEITS 2009

作者： Yang, Jinxian Zhang, Ying Control Engineering Open Lab. of Key Subjects of Henan Henan Polytechnic University Jiaozuo China Institute of High Education Henan Polytechnic University Jiaozuo China

ISBN: (纸本)9781424442461

According to a certain type of micro-machined gyroscope signal characteristics, wavelet transform de-noising method was adopted. The measured noise signal mainly concentrated in the low-frequency phase, overlapping with the gyro signal spectrum, and therefore the wavelet should have a certain degree of vanishing moments, in order to reduce the calculation and the distortion of reconstructed signal at the edges. The wavelet also has compact and symmetry properties of properties, using wavelet Symlets. According to the real signal in the wavelet decomposition of a higher layer of relatively large wavelet coefficients, the principle was determined with the variance before and after an order of magnitude difference, and calculating the decomposition level is 5. The five-scale decomposition was done with five kinds of wavelets for signal denoising experiments, and de-noising effect was best using sym4 wavelet, the variance was 8.1177byte/s and 2.2316byte/s before and after signal de-noising, increasing 2.63 times, theoretical analysis and the actual matched, verifying conformity with the theoretical analysis. ©2009 IEEE.

关键词： Signal denoising

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