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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation computer aided manufacturing Orbital robotics Electrostatics Navigation

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Modular robotics: design and examples

Modular robotics: design and examples

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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On the design and implementation of a trajectory tracking controller for a fixed wing unmanned air vehicle

On the design and implementation of a trajectory tracking co...

引用

American Control Conference (ACC)

作者： I. Kaminer E.N. Hallberg A. Pascoal C. Silvestre Department of Aeronautical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA Department of Electrical Engineering and Institute for Systems and Robotics ISR Instituto Superior Technico Lisboa Portugal

This paper introduces a new methodology for integrated design of guidance and control systems for autonomous vehicles. An application of this methodology to the design of a guidance and control system for a a fixed wi... 详细信息

关键词： Trajectory Unmanned aerial vehicles Control systems Navigation Gravity Global Positioning System Contracts Equations State-space methods Design methodology

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Task planning and project management using Petri nets

Task planning and project management using Petri nets

引用

IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Jongwook Kim A.A. Desrochers A.C. Sanderson Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The demand for effective project management increases as the complexity and cost of a project grown. This paper introduces an interactive project management approach based on the Petri net to overcome the limitations of network diagrams. In the Petri net based approach, the project manager does fine tuning of the planning and scheduling with the resource constraints embedded in the plan representation. The Petri net controller maintains three plan representations. The reference, monitor and predictor Petri nets. These three nets are configured with the resource database to form a feedback loop such that the controller can monitor and control the project online. This structure is applicable to the control of more general discrete event dynamic systems as well as the project management problem. In case no admissible control action can be found, the manager turns to the rescheduling/replanning mode to generate a new plan and schedule.

关键词： Project management Petri nets Monitoring robotics and automation Costs Resource management Building materials Scheduling Visualization Roads

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Mission reachability for extraterrestrial rovers

Mission reachability for extraterrestrial rovers

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.S. Sukhatme M.A. Lewis G.A. Bekey Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A methodology for the mobility evaluation and mission oriented performance assessment of an autonomous mobile robot is developed. The evaluation strategy uses both time and energy based measures resulting in the development of isochronal/isoenergy contours which characterize the expected mobility of the robot over novel terrain using sample trials on patches of land prior to the mission. This work has a basis in the evaluation of a robot for extraterrestrial exploration and demonstrates the feasibility of the evaluation methodology proposed using simulations. Simulation results are reported for two designs of micro-rovers viz. legged and wheeled on a simulated Martian terrain. Future work is discussed in the context of increased complexity due to hardware implementations, better terrain models and statistical simulations all of which are currently under development.

关键词： Mobile robots Path planning Intelligent robots Context modeling Mars Testing Performance evaluation robotics and automation computer science Intelligent systems

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Robot motion planning for sensor-based control with uncertainties

Robot motion planning for sensor-based control with uncertai...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L.A. Page A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper describes a new representation for sensing and control uncertainties in sensor-based robot control, and presents motion planning algorithms that use this representation. The planning algorithms employ a robot's sensing capabilities as needed to accomplish a task, by activating sensors at points or intervals during motion. A sensor is represented by three quantities: a domain, which is the set of robot configurations at which a valid measurement can be taken; an absolute sensing uncertainty held, which describes the sensor's absolute (global) accuracy; and an incremental motion uncertainty, which describes the sensor's relative (pertaining to displacements) accuracy. Control uncertainty represents the ability of a controller to drive the measured error near zero. These descriptions of sensing and control capability determine the evolution of uncertainty in a sensor-based motion plan. Two complementary algorithms for motion planning with the new representation are presented. One is a backprojection algorithm which searches globally (in configuration space and the available sensors) for ways to achieve a particular subgoal. The other searches locally (in path space) to satisfy all the constraints in a planning problem. Examples of uncertainty evaluation and motion planning in two degrees of freedom are presented.

关键词： Robot motion Motion planning Motion control Uncertainty Robot sensing systems Robot control Sensor phenomena and characterization Displacement measurement Motion measurement Error correction

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A reduced complexity vision system for autonomous helicopter navigation

A reduced complexity vision system for autonomous helicopter...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P.H. Batavia M.A. Lewis G.A. Bekey Department of Computer ScienceInstitute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA Department of Electrical Engineering Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Many current avenues of vision research involve fully analyzing an image with expensive, high powered computers. This approach has major implications in terms of cost, size, and power consumption. Other methods have involved sub-sampling an image to reduce cost and complexity. This has the disadvantage of information loss. We present a low cost, low powered, reduced complexity vision system capable of intelligently sampling an image to reduce this information loss. The design philosophy and methodology is discussed, along with sample applications. Primarily we demonstrate how the reduced complexity vision system will be used to aid in navigation of an autonomous flying vehicle. This is quantified by showing how having multiple sampling schemes result in increased robustness and accuracy of our helicopter line tracking algorithm.

关键词： Machine vision Helicopters Costs Image sampling Image analysis computer vision Energy consumption Intelligent systems Design methodology Aircraft navigation

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Attitude control without angular velocity measurement: a passivity approach

Attitude control without angular velocity measurement: a pas...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lizarralde J.T. Wen Department of Electrical Engineering COPPE UFRJ Rio de Janeiro Brazil Center for Advanced Technology in Automation and Robotics Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

It is well known that the linear feedback of the quarternion of the attitude error and angular velocity globally stabilizes the attitude of a rigid body. In this note, we show that the angular velocity feedback can be replaced by a nonlinear filter of the quarternion, thus removing the need of direct angular velocity measurement. In contrast to other approaches, this design exploits the inherent passivity of the system; a dynamic observer reconstructing the velocity is not needed. An application of the proposed scheme is illustrated for the robot control problem. Simulation results are included to illustrate the theoretical results.

关键词： Angular velocity Velocity measurement PD control Feedback Quaternions Robot control Orbital robotics robotics and automation Space vehicles Proportional control

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Task-based servoing in quaternion space

Task-based servoing in quaternion space

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： L. Singh H. Stephanou New York State Center for Advanced Technology in Robotics Automation and Manufacturing and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces and analyzes a method based on vector-quaternion pairs for accomplishing task-based control. The optimal control paradigm has been extended into quaternion space with a complete definition of the control law required to control a plant in such a space. A complete set of derivations of the quaternion algebra used to accomplish the optimal control have also been developed. The advantage of this approach is that it decouples the position and orientation states, thereby reducing the complexity of the control algorithms. The intended application of this research is task-level control of the five-fingered Anthrobot mounted on a PUMA 760.

关键词： Quaternions Optimal control Space technology Orbital robotics Force control robotics and automation Manufacturing automation computer aided manufacturing Motion control Acceleration

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Tetrobot: A Modular System for Hyper-Redundant Parallel robotics

Tetrobot: A Modular System for Hyper-Redundant Parallel Robo...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Hamlin A.C. Sanderson Electrical Computer and Systems Engineering Department Rensselaer Polytechnic InstituteNew York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute RPI Troy NY USA

A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety of variable geometry truss mechanisms using an integrated control and computational framework. A distributed control algorithm is based on an iterative virtual force based solution which propagates the goal positions of target nodes to determine systematic adjustments of actuators. Capabilities of the Tetrobot system have been demonstrated by the construction of several configurations of up to 18 nodes, 48 links, and 15 actuators. Implementations of a double Stewart platform and a six-legged walker, constructed from the same set of parts, are described in this paper.

关键词： Parallel robots Collision mitigation Actuators Concurrent computing Design engineering systems engineering and theory Electric variables control Control systems Computational geometry Centralized control

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