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Collision avoidance maneuver for an autonomous vehicle

Collision avoidance maneuver for an autonomous vehicle

引用

International Workshop on Advanced Motion Control (AMC)

作者： M. Durali G.A. Javid A. Kasaiezadeh Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

One of the most important capabilities expected from an autonomous vehicle is avoiding collision with obstacles in its path. For this purpose, autonomous vehicle must be able to perform an emergency maneuver as soon as the obstacle is detected. This paper presents a method for designing and performing an emergency maneuver in order to avoid collision with a fixed or moving obstacle in the path. A sinusoidal or exponential trajectory, which is a function of the relative distance between vehicle and obstacle, is designed as the desired trajectory for lateral motion of the vehicle. A sliding mode controller is designed in order to guarantee that the vehicle tracks that desired trajectory. The method does not have computational difficulties and is appropriate for real time implementations. A virtual test environment for evaluating the performance of the system has been prepared using Matlab/Simulink and ADAMS/Car software. A full vehicle model, validated by experimental tests, is used as the autonomous vehicle model in ADAMS/Car

关键词： Collision avoidance Remotely operated vehicles Mobile robots Mathematical model Vehicle detection Design methodology Sliding mode control Trajectory Software testing System testing

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A reactive neural network architecture to redundancy resolution for underwater vehicle-manipulator systems

A reactive neural network architecture to redundancy resolut...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： C.H. dos Santos R. Guenther E. De Pieri Department of Automation and Systems Robotics Laboratory Federal University of Santa Catarina Florianopolis Santa Catarina Brazil Mechanical Engineering Robotics Laboratory Federal University of Santa Catarina Brazil Department of Automation and Systems Robotics Laboratory Federal University of Santa Catarina Brazil

A new algorithm for redundancy resolution to an autonomous underwater vehicle-manipulator system (UVMS) is proposed. The algorithm explore the benefits of using a reactive neural network architecture to impose desired motions to a virtual kinematic chain. The computer simulation results demonstrate the beneficial characteristics of our proposed method

关键词： Neural networks Kinematics robotics and automation Laboratories Vehicle dynamics Service robots Control systems Mechanical engineering Computer architecture Computer simulation

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Robust adaptive control for complex systems employing ANN emulation of nonlinear functions

Robust adaptive control for complex systems employing ANN em...

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8th Seminar on Neural Network Applications in Electrical engineering, Neurel-2006

作者： Dimirovski, Georgi M. Jing, Yuanwei Zhang, Yanxin Vukobratovic, Miomir K. IEEE Dogus University Department of Computer Engineering Acibadem - Kadikoy 34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Skopje Macedonia School of Information Science and Engineering Northeastern University Shenyang China Mihailo Pupn Institute Laboratory of Robotics and Flexible Automation Karaburma 11000 Belgrade Serbia

ISBN: (纸本)1424404339

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique. © 2006 IEEE.

关键词： Neural networks

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Characterization of mechanical and electrical properties of epoxy-glass microballoon syntactic composites

Characterization of mechanical and electrical properties of ...

引用

作者： Gupta, Nikhil Priya, Shashank Islam, Rashed Ricci, William Composite Materials and Mechanics Laboratory Mechanical Aerospace and Manufacturing Engineering Polytechnic University Brooklyn NY 11201 United States Materials Science and Engineering Automation Robotics Research Institute University of Texas at Arlington Arlington TX 76019 United States Mechanical Aerospace and Manufacturing Engineering Department Six MetroTech Center Brooklyn NY 11201

The density of hollow particle (microballoon) filled composites called syntactic foams can be varied by two methods. The first method is the variation in microballoon volume fraction and the second method is the variation in the microballoon wall thickness, while keeping their volume fraction the same. A comparison of compressive properties of syntactic foams having microballoons of four different wall thicknesses in five volume fraction each is presented here. It is found that the compressive strength and modulus vary linearly with respect to the foam density. Dielectric constant, dielectric loss and electrical impedance are measured for four syntactic foam compositions with respect to temperature and frequency. Dielectric constant and loss are found to decrease with increase in frequency and with decrease in temperature in the range of 40-140°C.

关键词： Composite materials

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Adaptive robust LQR control with the application to the yaw control of small-scale helicopter

Adaptive robust LQR control with the application to the yaw ...

引用

2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Xingang, Zhao Zhe, Jiang Jianda, Han Guangjun, Liu Robotics Laboratory Shenyang Institute of Automation Nanta street 114# Shenyang 110016 China Graduate School Chinese Academy of Science Beijing 100039 China Department of Aerospace Engineering Ryerson University 350 Victoria Street Toronto Ont. Canada

ISBN: (纸本)1424404665

This paper presents a new robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The yaw dynamic system is linearized into a linear system, which is modelled by an affine uncertainty model. We proposed a novel robust LQR feedback controller with adaptive mechanisms for the linear system with guaranteed control performance. The feedback gains are obtained by the solutions of a series of linear matrix inequalities (LMIs). The design approach reduces conservatism inherent in robust control with a fixed gain controller and improves performances in time-response. Numerical simulations illustrate the theoretical developments. ©2006 IEEE.

关键词： Control theory

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From Signaling to Word-Combination, a Layered Approach

From Signaling to Word-Combination, a Layered Approach

引用

International Joint Conference on Neural Networks (IJCNN)

作者： A.-A. Toulkeridis V. Petridis Department of Electrical and Computer Engineering Faculty of Engineering Aristotle University of Thessaloniki Greece Automation and Robotics Laboratory Department of Electrical and Computer Engineering Faculty of Engineering Aristotle University of Thessaloniki Greece

We present a methodology by which multiword communication could one day be realized in a population of evolving Artificial Life agents. The method which combines genetic algorithms and artificial neural networks has the prospect of a gradual increase of communication complexity (multi-word communication) through a series of evolutionary phases that take place in tandem. This is a layered treatment of gradual increasing complexity thus making the framework suitable for computational investigations. We present an example in which agents evolve a shared lexicon that pertains to two concepts (direction and quantity) and address the issue of the ordering of the lexical forms of those concepts.

关键词： Humans Steel Genetic engineering Communication systems robotics and automation Genetic algorithms Artificial neural networks Complexity theory Application software Proposals

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

引用

International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement Computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Single landmark based self-localization of mobile robots

Single landmark based self-localization of mobile robots

引用

3rd Canadian Conference on Computer and Robot Vision, CRV 2006

作者： Bais, Abdul Sablatnig, Robert Gu, Jason Institute of Computer Technology Vienna University of Technology Vienna Austria Pattern Recognition and Image Processing Group Institute of Computer Aided Automation Vienna University of Technology Vienna Austria Robotics Research Group Department of Electrical and Computer Engineering Dalhousie University Halifax Canada

ISBN: (纸本)0769525423

In this paper we discuss landmark based absolute localization of tiny autonomous mobile robots in a known environment. Landmark features are naturally occurring as it is not allowed to modify the environment with special navigational aids. These features are sparse in our application domain and are frequently occluded by other robots. This makes simultaneous acquisition of two or more landmarks difficult. Therefore, we propose a system that requires a single landmark feature. The algorithm is based on range measurement of a single landmark from two arbitrary points whose displacement can be measured using dead-reckoning sensors. Range estimation is done with a stereo vision system. Simulation results show that the robot can localize itself if it can estimates range of the same landmark from two different position and if the displacement between the two position is known. © 2006 IEEE.

关键词： Mobile robots

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Fast Image Retrieval Based on Attributes of the Human Visual System

Fast Image Retrieval Based on Attributes of the Human Visual...

引用

Proceedings of the Nordic Signal Processing Symposium (NORSIG)

作者： Georgios Panitsidis Konstantinos Konstantinidis Vasileios Vonikakis Ioannis Andreadis Antonios Gasteratos Laboratory of Electronics Department of Electrical & Computer Engineering Democritus University of Thrace Greece Laboratory of Robotics and Automation Department of Production & Management Engineering Democritus University of Thrace Greece

In this paper we present a new method for content-based image retrieval (CBIR), based on the retinal signal processing of the human visual system (HVS). A center-surround operator similar to the receptive fields of the ganglion cells of the retina is employed to create a new form of color histogram, the center-surround histogram (CSH). Unlike other proposed color histograms, the CSH takes into consideration only the visual signal surrounding the zero-crossings of an image. This reduces the processed amount of visual information and minimizes the computational burden. Furthermore, a combination of spatial and chromatic information of the image is also achieved. The method is compared to other contemporary methods for image retrieval, exhibiting better results in shorter computational times

关键词： Image retrieval Humans Visual system Histograms Retina Laboratories Content based retrieval Multimedia databases Image databases robotics and automation

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Multi-agent-based Auctions for Multi-robot Exploration

Multi-agent-based Auctions for Multi-robot Exploration

引用

World Congress on Intelligent Control and automation (WCICA)

作者： Xia Ma Fang Meng Yibin Li Weidong Chen Yugeng Xi Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Centre for Robotics Department School of Control Science and Engineering Shandong University Jinan Shandong China

Aiming at improving the efficiency of the multi-robot exploration, this paper presents a novel auction algorithm based on the contact net protocol of the multi-agent theory. On the basis of the analysis of the limitations of the usual auction methods to the multi-robot exploration, the contract net protocol in the multi-agent theory is presented to design a completely distributive structure for the multi-robot exploration in order to increase the tolerance and reliability of the whole system. Then an improved multi-round single-item auction algorithm is presented to assign the frontiers to the multiple robots effectively. The theoretical analysis and the simulation experiments prove that the algorithm can lead to the effective coordination of multi-robot exploration with the decreasing computation compared to the combinatorial auctions

关键词： Robot kinematics Protocols Robustness robotics and automation Computational modeling Educational robots Automatic control Control engineering education Contracts Reliability theory

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