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A visual navigation system for autonomous flight of micro air vehicles

A visual navigation system for autonomous flight of micro ai...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Farid Kendoul Kenzo Nonami Robotics and Systems Control Lab Department of Electronics and Mechanical Engineering Chiba University Chiba Japan

Many applications of unmanned aerial vehicles (UAVs) require the capability to navigate to some goal and to perform precise and safe landing. In this paper, we present a visual navigation system as an alternative pose estimation method for environments and situations in which GPS is unavailable. The developed visual odometer is an incremental procedure that estimates the vehicle's ego-motion by extracting and tracking visual features, using an onboard camera. For more robustness and accuracy, the visual estimates are fused with measurements from an Inertial Measurement Unit (IMU) and a Pressure Sensor Altimeter (PSA) in order to provide accurate estimates of the vehicle's height, velocity and position relative to a given location. These estimates are then exploited by a nonlinear hierarchical controller for achieving various navigation tasks such as take-off, landing, hovering, target tracking, etc. In addition to the odometer description, the paper presents validation results from autonomous flights using a small quadrotor UAV.

关键词： Navigation Remotely operated vehicles Mobile robots Unmanned aerial vehicles Global Positioning System Cameras Robustness Position measurement Velocity measurement Pressure measurement

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Integrated guidance and fault tolerant adaptive control for Mars entry vehicle

Integrated guidance and fault tolerant adaptive control for ...

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作者： Marwaha, Monika Singh, Baljeet Valasek, John Bhattacharya, Ratkim Texas A and M University College Station TX United States Vehicle Systems and Control Laboratory Aerospace Engineering Department United States Computational Intelligence and Sensing for Aerospace Robotics Laboratory United States

ISBN: (纸本)9781563479786

Reconflgurable guidance and control are major keys for reliable and safe planetary entry of space exploration vehicles. Major challenges in these missions are posed by uncertainties in atmospheric properties like density and winds. A guidance algorithm based on optimal control theory and integrated with a nonlinear Structured Adaptive Model Inversion controller is developed, implemented and evaluated in this paper. The guidance algorithm uses B-spline parametrization of states to generate dynamically feasible optimal trajectories which steer the vehicle from entry interface conditions to a Final Approach Corridor, while simultaneously satisfying terminal conditions. Guidance trajectory acts as a reference trajectory for nonlinear adaptive controller which further generates the commanded moments based on reference input. Reaction control jet selection is accomplished using discrete control allocation. Discrete control allocation method can also handle various types of control failures. Performance is evaluated with a Mars Ellipsled vehicle non real-time simulation for a complete Mars entry trajectory tracking scenario. Simulation results presented in the paper demonstrate that the guidance algorithm generates the optimal trajectory under various terminal constraints while the fault tolerant control algorithm satisfactorily track this optimal trajectory in the presence of plant and environment uncertainties, in addition to control failures. Copyright © 2009 by Monika Marwaha.

关键词： Trajectories

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Combination of Lyapunov Functions and Density Functions for Stability of Rotational Motion

Combination of Lyapunov Functions and Density Functions for ...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： J.F.Vasconcelos A.Rantzer C.Silvestre P.Oliveira the Institute for Systems and Robotics Instituto Superior Técnico the Department of Automatic Control Faculty of EngineeringLund University

Lyapunov methods and density functions provide dual characterizations of the solutions of a nonlinear dynamic system. This work exploits the idea of combining both techniques, to yield stability results that are valid for almost all the solutions of the system. Based on the combination of Lyapunov and density functions, analysis methods are proposed for the derivation of almost input-to-state stability, and of almost global stability in nonlinear systems. The techniques are illustrated for an inertial attitude observer, where angular velocity readings are corrupted by non-idealities.

关键词： ISS Lyapunov Combination of Lyapunov Functions and Density Functions for Stability of Rotational Motion

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Rut tracking and steering control for autonomous rut following

Rut tracking and steering control for autonomous rut followi...

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IEEE International Conference on systems, Man and Cybernetics

作者： Camilo Ordonez Oscar Y. Chuy Emmanuel G. Collins Xiuwen Liu Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A&M University-Florida State University USA Center for Intelligent Systems Control and Robotics Department of Computer Science Florida State University Tallahassee FL USA

Ruts formed as a result of vehicle traversal on soft ground are used by expert off road drivers because they can improve vehicle safety on turns and slopes thanks to the extra lateral force they provide to the vehicle. In this paper we propose a rut detection and tracking algorithm for autonomous ground vehicles (AGVs) equipped with a laser range finder. The proposed algorithm utilizes an extended Kalman filter (EKF) to recursively estimate the parameters of the rut and the relative position and orientation of the vehicle with respect to the ruts. Simulation results show that the approach is promising for future implementation.

关键词： Land vehicles Road vehicles Vehicle safety Remotely operated vehicles Vehicle driving Force control control systems Intelligent robots Mobile robots Vehicle detection

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Robust control and path planning algorithms for small satellite formation flying missions

Robust control and path planning algorithms for small satell...

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60th International Astronautical Congress 2009, IAC 2009

作者： Saaj, Chakravarthini M. Bandyopadhyay, Saptarshi Bandyopadhyay, Bijnan Space Robotics Surrey Space Center University of Surrey Guildford Surrey GU2 7XH United Kingdom Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781615679089

Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and control. In this paper, novel robust control algorithm using Sliding Mode control is presented for a three-dimensional, high Earth orbit satellite formation scenario. The paper presents the comparison of results of three types of Sliding Mode controllers (SMC): the first one is a tan-hyperbolic SMC, the second one is a constant plus proportional rate SMC and the third one is a power rate SMC. Hybrid propulsion system minimises the use of on-board power for close formations. Artificial Potential Field method is used for collision-free path planning of the satellites in the formation. Simulation results show that for the formation flying scenario considered in this study, the constant plus proportional rate SMC and the power rate SMC gives better performance over the tan-hyperbolic SMC. Simulation results prove that for the tetrahedron formation considered in this study, the total control effort is less when the constant plus proportional rate controller and the power rate controller are used compared to the tan-hyperbolic sliding mode controller. Very little formation center movement is observed for the three SMCs.

关键词： Robust control

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Power modeling of a skid steered wheeled robotic ground vehicle

Power modeling of a skid steered wheeled robotic ground vehi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Oscar Chuy Emmanuel G. Collins Wei Yu Camilo Ordonez Center of Intelligent Systems Control and Robotics (CISCOR) of the Department of Mechanical Engineering Florida A&M Florida State University Tallahassee FL USA

Analysis of the power consumption of a robotic ground vehicle (RGV) is important for planning since it enables motion plans that do not violate the power limitations of the motors, energy efficient path planning, prediction of the ability to complete a task based upon the vehicle's current energy supply, and estimation of when the vehicle will need to refuel or recharge. Power modeling is particularly difficult for skid steered vehicles because of the complexities of properly taking into account the skidding that is used for vehicle turning. This paper begins with a 2-dimensional, second order differential equation of a skid steered, wheeled RGV and shows that the power model is terrain dependent and is a function of both the turning radius and linear velocity of the vehicle. This model was verified experimentally, and a comprehensive set of experiments was performed to describe the power consumption of a skid steered RGV on asphalt.

关键词： Mobile robots Land vehicles Energy consumption Path planning Turning Motion planning Motion analysis Energy efficiency Current supplies Motion estimation

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Dynamic modeling of a skid-steered wheeled vehicle with experimental verification

Dynamic modeling of a skid-steered wheeled vehicle with expe...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Wei Yu Oscar Chuy Emmanuel G. Collins Patrick Hollis Center for Intelligent Systems Control and Robotics (CISCOR) and the Department of Mechanical Engineering Florida A&M University-Florida State University Tallahassee FL USA

Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding along with rolling is inherent to general curvilinear motion, which makes both kinematic and dynamic modeling difficult. For the purpose of motion planning this paper develops and experimentally verifies dynamic models of a skid-steered wheeled vehicle for general planar (2D) motion and for linear 3D motion. These models are characterized by the coefficient of rolling resistance, the coefficient of friction, and the shear deformation modulus, which have terrain-dependent values. The dynamic models also include motor saturation and motor power limitations, which enable correct prediction of vehicle velocities when traversing hills. It is shown that the closed-loop system that results from inclusion of the dynamics of the (PID) speed controllers for each set of wheels does a much better job than the open loop model of predicting the vehicle linear and angular velocities. Hence, the closed-loop model is recommended for motion planning.

关键词： Vehicle dynamics Vehicles Power system modeling Predictive models Mobile robots Robustness Kinematics Motion planning Deformable models Friction

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control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

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IEEE Conference on control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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Optimal braking control for UW-Car using sliding mode

Optimal braking control for UW-Car using sliding mode

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IEEE International Conference on robotics and Biomimetics

作者： Feng Ding Jian Huang Yongji Wang Xueshan Gao Takayuki Matsuno Toshio Fukuda Kosuke Sekiyama Department of Control Science & Engineering Huazhong University of Science and Technology Wuan Hubei China Intelligent Robotics Institute Beijing Institute of Technology Beijing China Department of Intelligent System Design Engineering Toyama Prefectural University Imizu Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan

ISBN: (纸本)9781424447749;9781424447756

There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying Lagrange's motion equation. A sliding mode control (SMC) method is proposed for the dynamic model, which is capable of both handling the mismatched perturbation and keeping the body upright. An optimal braking scheme is introduced which reduces the velocity of UW-Car to zero first and adjusts the displacement of seat to the centre position. Genetic Algorithm (GA) is adopted to search the optimal parameters for sliding mode controller. The optimal braking scheme is implemented by on-line switching three sliding mode controllers. The effectiveness of the proposed methods is finally confirmed by numerical simulation.

关键词： Optimal control Sliding mode control Vehicle dynamics Mechanical systems Mobile robots Intelligent robots Intelligent vehicles Lagrangian functions Equations Genetic algorithms

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NanoLab: A nanorobotic system for automated pick-and-place handling and characterization of CNTs

NanoLab: A nanorobotic system for automated pick-and-place h...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Volkmar Eichhorn Sergej Fatikow Tim Wortmann Christian Stolle Christoph Edeler Daniel Jasper Ozlem Sardan Peter Boggild Guillaume Boetsch Christophe Canales Reymond Clavel Division Micro Robotics and Control Engineering University of Oldenburg Oldenburg Germany DTU Nanotech Department of Micro and Nanotechnology Technical University of Denmark Denmark Robotic Systems Laboratory Swiss Federal Institute of Technology Lausanne Switzerland

Carbon nanotubes (CNTs) are one of the most promising materials for nanoelectronic applications. Before bringing CNTs into large-scale production, a reliable nanorobotic system for automated handling and characterization as well as prototyping of CNT-based components is essential. This paper presents the NanoLab setup, a nanorobotic system that combines specially developed key components such as electrothermal microgrippers and mobile microrobots inside a scanning electron microscope. The working principle and fabrication of mobile microrobots and electrothermal microgripper as well as their interaction and integration is described. Furthermore, the NanoLab is used to explore novel key strategies such as automated locating of CNTs for pick-and-place handling and methods for electrical characterization of CNTs. The results have been achieved within the framework of a European research project where the scientific knowledge will be transfered into an industrial system that will be commercially available for potential customers.

关键词： Electrothermal effects Grippers Carbon nanotubes Organic materials Nanostructured materials Large-scale systems Production systems Prototypes Electron mobility Scanning electron microscopy

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