Local Trajectory Planning plays a pivotal role in reducing lap times during a race. It must take into account not only obstacles but also the hardware limitations of the vehicle and the performance of the controller. ...
Local Trajectory Planning plays a pivotal role in reducing lap times during a race. It must take into account not only obstacles but also the hardware limitations of the vehicle and the performance of the controller. Moreover, in a high-speed racing competition like F1, surrounding vehicles exhibit highly dynamic movements, necessitating motion prediction for safety. However, existing studies have demonstrated good performance in environments with static objects or when avoiding racing vehicles in straight-line sections, but accidents occur in environments with large numbers of vehicles and high curvature. To address these issues, this paper proposes an algorithm that ensures stability even in complex environments by considering the uncertainty of motion prediction for multiple vehicles. By considering the uncertainty of vehicle motion, we design the cost and generate an optimized path based on sampling. The CarMaker simulator is utilized to verify the proposed algorithm.
The purpose of this research is to build a real-time flight simulator for quadrotor systems and verify if the simulator runs in real time. The simulator was constructed by writing the mathematical models of quadrotor ...
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The purpose of this research is to build a real-time flight simulator for quadrotor systems and verify if the simulator runs in real time. The simulator was constructed by writing the mathematical models of quadrotor dynamic in MATLAB/Simulink. Using xPC Target software environment, three PCs were set up to work in sync to make the simulation run in real time. This paper shows several simulation results of the quadrotor dynamic in three flight directions. These results validate the stable performance of PD controller being used. At the same time it can be revealed that the simulation runs in real time by observing the percentage processing usage of the computer as function of simulation time. The simulator can be very useful for researchers to understand the character of the quadrotor system being developed and for pilots to complete a mission using the quadrotor system.
Fuzzy controller shows different responses depending on the size of the linguistic variables. Therefore, the choice of appropriate linguistic variable is an important part of the design of fuzzy controller. However, s...
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Fuzzy controller shows different responses depending on the size of the linguistic variables. Therefore, the choice of appropriate linguistic variable is an important part of the design of fuzzy controller. However, since fuzzy controller is nonlinear, it is difficult to analyze mathematically the affection of the linguistic variable. In this paper to analyze the effect of linguistic variables, the relationship between linguistic variables and fuzzy controller stability zone according to the variable changes in the size of each linguistic variables and the number of linguistic variables, that is calculated by Describing Function approximately, is analyzed through regression analysis. Describing Function can approximate FLC in frequency domain and we can determine the stability using nyquist plot. This study can help to understand the role of linguist variables of consequent membership function and to select them for designing FLC on the point of stability.
This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluate...
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This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluates the predicted pose, and resampling which modifies the evaluated pose. The proposed particle filter method utilizes bearing information as well as range information. The results of a simulation show trajectories for estimated robot location. Also, there is a result for comparison of performances using the proposed method and extended Kalman filter based method.
Combining the 'programmable' characteristics of smart materials with 3D printing technology can realize the integration of structural design and manufacturing. Magnetic controlled smart fluid owns the characte...
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At present, cerebrovascular disease has become the number one killer of endangering human health, and minimally invasive interventional surgery is its main treatment method. However, the vascular intervention surgery ...
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In this paper, an intelligent multi-functional mobile robot is presented. The hardware involves the ultrasonic sensor, Bluetooth device, wireless camera, DC servo motor, and mechanical gripper. One single ultrasound s...
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In this paper, an intelligent multi-functional mobile robot is presented. The hardware involves the ultrasonic sensor, Bluetooth device, wireless camera, DC servo motor, and mechanical gripper. One single ultrasound sensor is programmed to seek the object, and complete the object localization. A human-machine interface is developed to remotely control the mobile robot. Through wireless communication and camera, the exploration of a tiny and harsh environment can be carried out. Hardware description language is used in the controller design and the peripheral I/O circuit. Human-machine interface is completed by C language.
In this paper we propose a novel sparse optical flow (SOF)-based line feature tracking method for the camera pose estimation problem. This method is inspired by the point-based SOF algorithm and developed based on an ...
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