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Design of augmented extended and unscented Kalman filters for differential-drive mobile robots

Journal of Applied Sciences 2008年第16期8卷 2901-2906页

作者： Hassanzadeh, Iraj Fallah, Mehdi Abedinpour Research Laboratory of Robotics Department of Control Engineering Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

In this study, we present the local reconstruction of differential-drive mobile robots position and orientation with an accurate odometry calibration. Starting from the encoders readings and assuming an absolute measurement available, Augmented Extended and Unscented Kalman Filters (AEUKF) are proposed to localize the vehicle while estimating a proper set of odometric parameters. In order to compare their estimation performances explicitly, both observers are designed for the same mobile robot model and run with the equal covariance matrices under the identical initial conditions. In the simulation results, it is shown that Augmented Unscented Kalman Filter (AUKF) outperforms the Augmented Extended Kalman Filter (AEKF). © 2008 Asian Network for Scientific Information.

关键词： Mobile robots

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PID-fuzzy switching-based strategy to heading control for remote operated vehicle

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Neural Computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

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Customizable Inverse Sensor Model for Bayesian and Dempster-Shafer Occupancy Grid Frameworks 20th

Customizable Inverse Sensor Model for Bayesian and Dempster-...

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20th Polish control Conference, PCC 2020

作者： Porębski, Jakub Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Aptiv Services Poland S.A. Kraków Poland

ISBN: (纸本)9783030509354

Occupancy grid mapping is an important component in a road scene understanding for autonomous driving. It can encapsulate data from heterogeneous sensor sources like radars, LiDARs, cameras and ultrasonics. At the core of occupancy grid (OG) generation, there is usually an inverse sensor model (ISM), which infers the occupancy representation from the sensor readings. Traditional ISMs are characterized by a very rigid structure, suited only for one sensor type, and specific occupancy grid representation. This paper proposes a novel ISM framework, which offers a separation between free and occupied space, supporting both Bayesian and Dempster-Shafer OG representations. The framework is especially useful when dealing with multiple different sensors where custom or preselected probability distribution can be applied. The presented ISM architecture is modular and flexible, which is described in an illustrative example of application customized for different detection sources. © 2020, Springer Nature Switzerland AG.

关键词： Probability distributions

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Seleem, Ibrahim A. Naeem, Mohamed A. Ishii, Hiroyuki Waseda University Department of Modern Mechanical Engineering Japan Menoufia University Faculty of Electronic Engineering Department of Industrial Electronics and Control Engineering Egypt Harbin Institute of Technology School of Mechanical and Electrical Engineering Department of Mechatronics Engineering China South Valley University Faculty of Engineering Department of Mechatronics and Robotics Engineering Egypt

ISBN: (纸本)9798350325706

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype's shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams. © 2023 IEEE.

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Analysis of fast prototyping of microcontroller-based ML software for acoustic signal classification 26

Analysis of fast prototyping of microcontroller-based ML sof...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Marciniak, Filip Marciniak, Wojciech Marciniak, Tomasz Poznan University of Technology Faculty of Computing and Telecommunications Poznań60-965 Poland Poznan University of Technology DECYBEL Science Club Poznań60-965 Poland Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper analyzes the preparation of software for acoustic signal classification with machine learning techniques for microcontrollers. The design process was tested for three types of devices: Nordic Thingy:53, *** and Arduino Nano 33 BLE Sense Lite. The classifier training process was carried out using the Edge Impulse platform. Experimental studies were carried out for the process of classifying sound signals generated by the vacuum cleaner motor. The results of the training and the model test were presented for different configurations. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Microcontrollers

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Simulation and control of Inverted Pendulum System Dynamics over control Area Network using TrueTime 8

Simulation and Control of Inverted Pendulum System Dynamics ...

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8th IEEE R10 Humanitarian Technology Conference, R10-HTC 2020

作者： Abdulrab, Hakim Qaid Abdullah Hussin, Fawnizu Azmadi Motea, Zakarya Zaidi, Rose Neezar Rose Universiti Teknologi Petronas Dept. of Electrical and Electronic Engineering Perak Malaysia Universiti Teknologi Malaysia Dept. of Control and Mechatronics Engineering Johor Malaysia Dept. of Mechatronics and Robotics Engineering Faculty of Engineering and IT Taiz University Taiz Yemen

ISBN: (纸本)9781728111100

Inverted pendulum is one the most popular systems that has been used and studied in the field of control engineering. Even its simplest form is an under-actuated system and highly unstable with high non-linear dynamics. Therefore, it is a challenging control task and have been referred to as benchmark for testing control algorithms. This paper discusses modelling and control of inverted pendulum using Linear Quadratic Regulator (LQR) controller. Then, the same model and controller are inserted to a real time Simulink model for the purpose of analysing the scheduling of tasks and testing control area network (CAN) performance. This is done by utilizing True Time toolbox. In this paper both nonlinear and linearized models were analysed. Four sensors, an actuator and a controller are used in analysing the response of the inverted pendulum. Different scheduling techniques and the response of the system after changing the period of one of the sensors in the system were also investigated. By changing the period of one sensor and maintaining the other 3 sensors, the system became unstable as discussed throughout the paper. © 2020 IEEE.

关键词： Inverted pendulum

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Unmanned aerial vehicle control method considering optimal compensation and gusts of wind

Unmanned aerial vehicle control method considering optimal c...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Sławomir Stępień Monika Pawlak Wojciech Giernacki Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, a control strategy based on a coupled Proportional and State-Dependent Riccati Equation (P-SDRE) controller, which ensures a quick stabilization for a given angular position of an unmanned aerial vehicle in three-dimensional space, is presented. The Hamilton-Jacobi-Bellman function and the Riccati differential equation are used to develop the solution of the SDRE algorithm. Properly defined weighting matrices in performance index allow quadrotor’s fast and precise positioning with optimal stabilization of angular speeds. Cruise control of unmanned aerial vehicle is modelled and simulated. In order to prove the effectiveness of the method, disturbances modelled as wind gusts are included in the simulation.

关键词： Space vehicles Riccati equations Optimal control Quality control Autonomous aerial vehicles Mathematical models Robustness

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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Study on spiral winding swimming motion control of a slender legless creature model

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High Technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

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