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Non-Fragile Control for Trajectory Tracking of Nonholonomic Mobile Robots

Non-Fragile Control for Trajectory Tracking of Nonholonomic ...

引用

American Control Conference

作者： Na Ni Yingmin Jia Junping Du Fashan Yu Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

ISBN: (纸本)9781424474264

This paper is devoted to the non-fragile controller design for the trajectory tracking of nonholonomic mobile robots. Using non-linear state feedback and proper coordinate transformation, the model of nonholonomic mobile robots is exactly linearized. Based on which, the non-fragile controller is designed by employing the linear matrix inequality (LMI) approach. Simulation examples are included to illustrate the effectiveness of the proposed controller.

关键词： Trajectory Mobile robots Control systems Tracking Robot kinematics Orbital robotics State feedback Error correction Sliding mode control Laboratories

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Stress-driven MEMS assembly + electrostatic forces = 1mm diameter robot

Stress-driven MEMS assembly + electrostatic forces = 1mm dia...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

作者： Karagozler, Mustafa Emre Goldstein, Seth Copen Reid, J. Robert Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15213 United States Computer Science Department Carnegie Mellon University United States Air Force Research Laboratory Hanscom AFB MA United States

ISBN: (纸本)9781424438044

As the size of the modules in a self-reconfiguring modular robotic system shrinks and the number of modules increases, the flexibility of the system as a whole increases. In this paper, we describe the manufacturing methods and mechanisms for a 1 millimeter diameter module which can be manufactured en masse. The module is the first step towards realizing the basic unit of claytronics, a modular robotic system designed to scale to millions of units. © 2009 IEEE.

关键词： robotics

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Adaptive line extraction algorithm for SLAM application

Adaptive line extraction algorithm for SLAM application

引用

IEEE International Conference on robotics and Biomimetics

作者： M. Yaghobi M. Jadaliha J. Zolghadr M. Norouzi Mechatronic Research Laboratory Electrical and Computer Engineering Department Islamic Azad University Qazvin Iran Electrical Engineering Department Sharif University of Technology Tehran Iran Mechatronic Research Laboratory Electrical and Computer Engineering Department Islamic Azad University Iran

This paper proposes a modified split and merge algorithm for line extraction with high accuracy, efficient speed and low complexity. It is robust against measurement noises and demonstrates satisfactory results on different surfaces in determining line boundaries. The method is based on the least square equation to fit a line on a series of uncertain points. Different least square criterion is investigated to choose the best one for line extraction. A novel approach is proposed here to adopt threshold on different surfaces. Although the SLAM is not main goal of this paper, a feature based SLAM is implemented on a mobile rescue robot to observe the proposed line extraction performance, practically.

关键词： Simultaneous localization and mapping Data mining Mobile robots Mechatronics Laboratories Acoustic noise Working environment noise Noise robustness Surface fitting Least squares methods

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MDP based active localization for multiple robots

MDP based active localization for multiple robots

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Jyotika Bahuguna B. Ravindran K. Madhava Krishna Robotics Research Laboratory Department of Computer Science and Engineering Indian Institute of Technology Hyderabad Andhra Pradesh India Department of Computer Science and Engineering IIT Madras Chennai India

In environments with identical features, the global localization of a robot, might result in multiple hypotheses of its location. If the situation is extrapolated to multiple robots, it results in multiple hypotheses for multiple robots. The localization is facilitated if the robots are actively guided towards locations where it can use other robots as well as obstacles to localize itself. This paper aims at presenting a learning technique for the above process of active localization of multiple robots by co-operation. An MDP framework is used for learning the task, over a semi-decentralized team of robots hereby maintaining a bounded complexity as opposed to various multi-agent learning techniques, which scale exponentially with the increase in the number of robots.

关键词： Robot sensing systems robotics and automation Mobile robots computer science Orbital robotics Maintenance Navigation Motion estimation Runtime Dead reckoning

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Pose estimation of a volant platform with a monocular visuo-inertial system

Pose estimation of a volant platform with a monocular visuo-...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Nikolaos Kyriakoulis Evangelos Karakasis Antonios Gasteratos Angelos Amanatiadis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

One of the serious problems in robotics applications is the estimation of the robot's pose. A lot of research effort has been put on finding the pose via inertial and proximity sensors. However, the last decades many systems adopt vision to estimate the pose, by using homographies and projection geometry. In this paper the pose estimation is achieved by the identification of a geometrically known platform from one camera and from the measurements of an inertial unit. The extended Kalman filter (EKF) is used for data fusion and error compensation. The novelty of this system is that the visual sensor and the inertial unit are mounted on different mobile systems. The proposed pose estimation system exhibits high accuracy in real-time.

关键词： Cameras Frequency estimation Robot vision systems Robot sensing systems Biosensors Laboratories computer vision Real time systems Image sensors Machine vision

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Decentralized Output-Feedback Control of Large-Scale Nonlinear Systems Based on High-Gain Multiple Time Scaling

Decentralized Output-Feedback Control of Large-Scale Nonline...

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2009 American Control Conference (ACC 2009)

作者： P. Krishnamurthy F. Khorrami IntelliTech Microsystems Inc. (IMI) Bowie MD 20715 Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY 11201

ISBN: (纸本)9781424445233

A globally stabilizing decentralized output-feedback controller is proposed for a general class of nonlinear interconnected large-scale systems. The subsystem interconnections and the dynamics of each subsystem feature both parametric and functional uncertainty. The controller design is based on a general high-gain scaling technique that utilizes arbitrary powers (instead of requiring successive powers) of the high-gain parameter with the powers chosen to satisfy certain inequalities depending on system nonlinearities. The scaling induces a weak-Cascading Upper Diagonal Dominance (w-CUDD) structure on the dynamics and allows relaxation of the cascading dominance assumption on upper diagonal terms. Disturbance attenuation properties of the proposed decentralized controller are also investigated.

关键词： high gain Power (Psychology) Decentralized feedback control time scaling dynamics controller design gain parameter Parametric SUB-SYSTEM Nonlinear systems

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A Hierarchical Path Planning and Obstacle Avoidance System for an Autonomous Underwater Vehicle

A Hierarchical Path Planning and Obstacle Avoidance System f...

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2009 American Control Conference (ACC 2009)

作者： F. Khorrami P. Krishnamurthy Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY 11201 IntelliTech Microsystems Inc. (IMI) Bowie MD 20715

ISBN: (纸本)9781424445233

In this paper, we propose a Maritime Underwater Navigation System (MUNS) for Unmanned Underwater Vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a Wide Area Planner (WAP) and a Local Area Planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities in cluttered and littoral environments. MUNS is designed to be flexible and to support a variety of tasks including point-to-point moves, object inspection, contour tracking, and region scanning/searching. The performance of MUNS has been validated through extensive simulation studies.

关键词： Path planning Underwater vehicles Sonar Navigation Inspection Information geometry Global Positioning System Control systems Underwater tracking Military communication

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Recursive line extraction algorithm from 2d laser scanner applied to navigation a mobile robot

Recursive line extraction algorithm from 2d laser scanner ap...

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IEEE International Conference on robotics and Biomimetics

作者： Mohammad Norouzi Mostafa Yaghobi Mohammad Rezai Siboni Mahdi Jadaliha Department of Electrical Computer and IT Engineering Qazvin Branch Mechatronics Research Laboratory (MRL) Islamic Azad University Qazvin Iran

This paper presents a novel algorithm for line extraction from 2D laser range finder which has excellent precision to determine of line boundary, while having efficient speed and low complexity. This algorithm is more robust in measurement noise and cluttered data and fit a line to a set of uncertain points via Hough transform and recursive split formalism. In this algorithm first the data from laser is segmented to separate regions by determining start and end points throw Hough transform. After removing noisy or sparse points lines are extracted with a fast recursive split algorithm. Furthermore, it has good real-time capability to integrate the information of laser scanner into the navigation algorithm of the mobile robot and it is implemented on NAJI V rescue robot platform.

关键词： Mobile robots Data mining Laser noise Feature extraction Noise robustness Robot sensing systems Simultaneous localization and mapping Sonar navigation Robot vision systems Working environment noise

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AAAI 2008 workshop reports

AAAI 2008 workshop reports

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作者： Anand, Sarabjot Singh Bunescu, Razvan Carvcdho, Vitor Chomicki, Jan Conitzer, Vincent Cox, Michael T. Dignum, Virginia Dodds, Zachary Dredze, Mark Furcy, David Gabrilovich, Evgeniy Göker, Mehmet H. Guesgen, Hans Hirsh, Haym Jannach, Dietmar Junker, Ulrich Ketter, Wolfgang Kobsa, Alfred Koenig, Sven Lau, Tessa Lewis, Lundy Matson, Eric Metzler, Ted Mihalcea, Rada Mobasher, Bamshad Pineau, Joelle Poupart, Pascal Raja, Anita Ruml, Wheeler Sadeh, Norman Shani, Guy Shapiro, Daniel Smith, Trey Taylor, Matthew E. Wagstaff, Kiri Walsh, William Zhou, Rong Department of Computer Science University of Warwick United Kingdom School of Electrical Engineering and Computer Science Ohio University United States Microsoft Live Labs United States computer science and engineering University at Buffalo United States Computer science and economics Duke University United States Intelligent Computing group of BBN Technologies Utrecht University Netherlands Department of Computer science Harvey Mudd College United States University of Pennsylvania United States University of Wisconsin United States Yahoo Research PricewaterhouseCoopers Center for Advanced Research United States Department of Computer science School of Engineering and Advanced Technology Massey University New Zealand Departent of Computer science Rutgers University United States Department of Computer Science Dortmund University of Technology. Germany ILOG Rotterdam School of Management Erasmus University Netherlands Donald Bren School of Information and Computer Sciences University of California Irvine United States Depatrment of Computer science University of Southern California United States IBM Almaden Research Center United States Department of Computer Information Technology Southern New Hampshire University United States Computer and Information Technology Program College of Technology Purdue University United States Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computer Science and Engineering University of North Texas United States School of Computing DePaul University United States Department of Computer Science McGill University Canada School of Computer Science University of Waterloo Canada Department of Software and Information Systems University of North Carolina Charlotte United States University of New Hampshire United States Microsoft Research Institute for the Study of Learning and Expertise Applied Reactivity Inc. United States NASA Ames Research Center Carnegie Mellon University West

AAAI was pleased to present the AAAI-08 Workshop Program, held Sunday and Monday, July 13-14, in Chicago, Illinois, USA. The program included the following 15 workshops: Advancements in POMDP Solvers;AI Education Workshop Colloquium;Coordination, Organizations, Institutions, and Norms in Agent Systems, Enhanced Messaging;Human Implications of Human-Robot Interaction;Intelligent Techniques for Web Personalization and Recommender Systems;Metareasoning: Thinking about Thinking;Multidisciplinary Workshop on Advances in Preference Handling;Search in Artificial Intelligence and robotics;Spatial and Temporal Reasoning;Trading Agent Design and Analysis;Transfer Learning for Complex Tasks;What Went Wrong and Why: Lessons from AI research and Applications;and Wikipedia and Artificial Intelligence: An Evolving Synergy. Copyright © 2009, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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Trajectory planning optimization with dynamic modeling of four wheeled omni-directional mobile robots

Trajectory planning optimization with dynamic modeling of fo...

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

作者： Ehsan Hashemi Maani Ghaffari Jadidi Omid Bakhshandeh Babarsad Department of Mechanical and Industrial Engineering and Mechatronics Research laboratory MRL Qazvin Islamic Azad University Qazvin Iran Department of Mechanical and Industrial Engineering and Department of Electrical and Computer Engineering Mechatronics Research laboratory MRL Qazvin Islamic Azad University Iran

ISBN: (纸本)9781424448081

Path planning together with the tuning and determination of controller parameters are major concerns in omnidirectional mobile robots. Defining appropriate controller parameters in acceleration and deceleration to reach far and near target points without slippage is one of critical issues since some troubles due to unregulated velocities may greatly affect the ability of robot for the specified path planning and attaining the mentioned targets. A robot accurate kinematic and dynamic modeling and simulation accompanied by velocity and acceleration filtering are mainly discussed in this paper. Major changes and improvements in motion analysis, simulation and accuracy for the newly presented model and its efficiency are discussed in comparison with the previous simple kinematic modeling. Employing the new approach for robot dynamic modeling, particularly acceleration filtering, results in to the more precise robot control and achieving appropriate results.

关键词： Trajectory Mobile robots Acceleration Path planning Robot control Kinematics Filtering Velocity control Motion analysis Analytical models

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