This paper presents a vision-tracking for mobile robots, which tracks a moving target based on robot motion and stereo vision information. The proposed system controls pan and tilt actuators attached to a stereo camer...
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This paper presents a vision-tracking for mobile robots, which tracks a moving target based on robot motion and stereo vision information. The proposed system controls pan and tilt actuators attached to a stereo camera, using the data from a gyroscope, robot wheel encoders, pan and tilt actuator encoders, and the stereo camera. Using this proposed system, the stereo camera always faces the moving target. The developed system calculates the angles of the pan and tilt actuators by estimating the relative position of the target with respect to the position of the robot. The developed system estimates the target position using the robot motion information and the stereo vision information. The movement of the robot is modeled as the transformation of the frame, which consists of a rotation and a translation. The developed system calculates the rotation using 3-axis gyroscope data and the translation using robot wheel encoder data. The proposed system measures the position of the target relative to the robot, combining the encoder data of pan and tilt actuators and the disparity map of the stereo vision. The inevitable mismatch of the data, which occurs from the asynchrony of the multiple sensors, is prevented by the proposed system, which compensates for the communication latency and the computation time. The experimental results show that the developed system achieves excellent tracking performance in several motion scenarios, including combinations of straights and curves and climbing of slopes.
Chapter 1 briefly introduces the problem formations and the organization of the book. In particular, given a feasible set of switching signals, the concepts of stability and stabilizability are introduced, and the rel...
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Robust H ∞ output feedback control problem for a class of switched linear discrete-time systems possessing norm-bounded uncertainty and time-varying delay is investigated. A switched dynamic output feedback controll...
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Robust H ∞ output feedback control problem for a class of switched linear discrete-time systems possessing norm-bounded uncertainty and time-varying delay is investigated. A switched dynamic output feedback controller is sought that can robust exponentially stabilize and reduce to a prescribed level the effect of disturbance input on the controlled output in the closed loop. A delay-dependent linear matrix inequality based sufficient condition for the problem to be solvable is derived via the switched Lyapunov functions. controller design is performed by solving a set of linear matrix inequalities. An illustrative example along with simulation results is given to demonstrate the validity of these novel derivations.
The robust H ∞ control problem for a class of uncertain switched linear systems by using the variable structure control is investigated. A robust H ∞ single sliding surface is shown to exist as long as a convex co...
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The robust H ∞ control problem for a class of uncertain switched linear systems by using the variable structure control is investigated. A robust H ∞ single sliding surface is shown to exist as long as a convex combination of the subsystems of the switched system is robustly stabilizable with disturbance attenuation level γ. A switching law is constructed via the single Lyapunov function technique. Variable structure controllers of subsystems are designed so as the resulting closed-loop system guarantees the robust H ∞ performance. An illustrative example and simulation results are given to demonstrate the effectiveness of the proposed design method.
This paper presents a vision-tracking system for a mobile robot, using robot motion and stereo vision data. The mobile robot has an actuator module which pans and tilts an integrated stereo camera. The proposed system...
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This paper presents a vision-tracking system for a mobile robot, using robot motion and stereo vision data. The mobile robot has an actuator module which pans and tilts an integrated stereo camera. The proposed system controls the actuator to maintain the line of sight of the stereo camera towards a stationary target by using the robot motion data. The robot motion data are obtained from a gyroscope and encoders of the mobile robot. The stereo vision data from the camera is used to compensate for errors in the motion measurements, and to prevent a long term error accumulation. This vision-based compensation is used only when the robot stops or moves slowly, because the long vision processing times can cause the loop time to overrun. The proposed system is experimentally evaluated while the robot moves on a trajectory.
A real time and autonomous obstacle avoidance method based on rules for mobile robots was presented. Wall- along algorithm was dynamically implemented in unknown environment without collision. The results show that th...
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A real time and autonomous obstacle avoidance method based on rules for mobile robots was presented. Wall- along algorithm was dynamically implemented in unknown environment without collision. The results show that this algorithm is time saving and no disturbance. The approaches proposed has effectiveness and reliability.
The behavior of nonlinearity and time-varying cause the pneumatic actuator systems are difficult to be controlled. This paper proposes a Fourier series-based adaptive sliding-mode controller for nonlinear pneumatic se...
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The marine diesel engine has the important function to guarantee the marine security and reliability. It is a strong coupling relationship's system with multi-fault attributes. In this paper an advanced method of ...
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This paper introduces the design of the parallel connection of DC/DC power supplies. The topology of system configuration and performed modeling were stated. The problems such as the ripple electric current sharing of...
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