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European Signal processing Conference (EUSIPCO)

作者： W. Li F. M. Wahl Tsinghua University Beijing Beijing CN Institute for Robotics and Computer Control Technical University of Braunchweig Hamburger Str. 267 38114 Braunschweig Germany

This paper presents a method for vision navigation of an autonomous vehicle based on fuzzy reasoning. Autonomous vehicles operating in real world require fast image processing and robustness with respect to noisy sensor readings and with respect to environment changes. The key subject of this paper is the integration of some special domain knowledge into a fuzzy rule base in order to enhance image segmentation performance. The proposed method is applied to navigate the THMR-III autonomous vehicle in out-door environments.

关键词： Image edge detection Roads Vehicles Navigation Image segmentation Mobile robots Fuzzy logic

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Zero++: An OOP environment for multiprocessor robot control

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INTERNATIONAL JOURNAL OF robotics & AUTOMATION 1997年第2期12卷 49-57页

作者： Pelich, C Wahl, FM Technical University of Braunschweig Inst. for Robotics/Process Control 38114 Braunschweig Hamburger Str. 267 Germany

The many robot programming languages that have been developed can be subdivided into two main categories: high-level extensions like (M)RCCL [1,2], PasRo [3], ROPAS [4], or ZERO [5], and ''stand-alone'' languages like AL, VAL, and AML. With increasing computational power and more and more complex industrial applications, further developments become necessary. Research is widespread concerning tools to implement different hybrid controllers or, today, development of high-level object-oriented robot programming interfaces. Zero++ offers a unique programming environment from control level up to high-level object-oriented application design. It is designed to be executed on multiprocessor-nets and supports full parallelism and basic dynamic processing. This enables Zero++ to, for example, simultaneously control several robots within one application or integrate several different sensors into robot control. This paper gives a brief overview of Zero++, with some aspects shown in more detail and applications given.

关键词： robot control robot programming real-time parallel systems communication

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A bayesian network for 3d object recognition in range data 7th

A bayesian network for 3d object recognition in range data

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7th International Conference on Computer Analysis of Images and Patterns, CAIP 1997

作者： Krebs, B. Burkhardt, M. Wahl, F.M. Institute for Robotics and Computer Control Technical University Braunschweig Hamburger Str. 267 BraunschweigD-38114 Germany

ISBN: (纸本)3540634606

Introducing general CAD descriptions in object recognition systems has become a major field of research called CAD based vision (CBV). However, the major problem using free-form object descriptions is how to define recognizable features which can be extracted from sensor data. In this paper we propose new methods for an extraction of 3d space curves from CAD models and from range data. Object identification is performed by correlating feature vectors from significant subcurves. However, features relying on differential surface properties tend to be very vulnerable with respect to noise. To cope with erroneous data we propose to model the statistical behavior of the features using a Bayesian network. Thus, providing a robust and powerful CAD based 3d object recognition system. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Bayesian networks

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Statistical motion planning for mobile robots: paradigms for efficiency and optimality using a discrete model

Statistical motion planning for mobile robots: paradigms for...

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IEEE International Conference on Systems, Man and Cybernetics

作者： E. Kruse R. Gutsche F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

In recent papers we have proposed a new path planning approach for mobile robots, which employs statistical data in order to plan efficient paths in environments with moving obstacles. In this paper, a more systematic insight is offered using a simplified model with discrete space and time. We present complete algorithms yielding globally optimal solutions without requiring any heuristics. Regarding the reactive behaviour, benefits of statistical motion planning are specified in terms of reliability and expected time to reach the given goal positions.

关键词： Motion planning Mobile robots Probability Predictive models Path planning process planning process control Electronic mail Trajectory Stress

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Generating and evaluating regrasp operations

Generating and evaluating regrasp operations

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Rohrdanz F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

Regrasping must be performed whenever a robot's grasp of an object is not compatible with the pick-and-place operation the robot must perform. This paper presents a new approach to the problem of regrasping for a robot arm equipped with a parallel-jaw end-effector. The method employs an evaluated breadth-first search in the space of compatible regrasp operations taking into account several criteria rating about the grasp and placement quality. We pay particular attention to online computational efficiency. The presented system is the first planning system performing as much of offline computation as possible for solving the regrasp problem efficiently online.

关键词： Robot kinematics Grippers Orbital robotics Fingers Parallel robots process control Interference constraints Joining processes Performance evaluation process planning

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Acquisition of statistical motion patterns in dynamic environments and their application to mobile robot motion planning

Acquisition of statistical motion patterns in dynamic enviro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： E. Kruse R. Gutsche F.M. Wahl Institute of Robotics and Process Control Technical University of Braunschweig Brunswick Germany

In recent papers we (1996, 1997) have proposed a new path planning approach for mobile robots: statistical motion planning with respect to typical obstacle behavior in order to improve pre-planning in dynamic environments. In this paper, we present our experimental system: in a real environment, cameras observe the workspace in order to detect obstacle motions and to derive statistical data. We have developed new techniques based on stochastic trajectories to model obstacle behavior. Collision probabilities are calculated for polygonal objects moving on piecewise linear trajectories. The statistical data can be applied directly, thus the entire chain from raw sensor data to a stochastic assessment of robot trajectories is closed. Finally, some new work regarding different applications of statistical motion planning is outlined, including road-map approaches for pre-planning, expected time to reach the goal, and reactive behaviors.

关键词： Path planning Motion planning Stochastic processes Mobile robots Robot vision systems Cameras Motion detection Road accidents Probability Piecewise linear techniques

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Constraint evaluation for assembly sequence planning

Constraint evaluation for assembly sequence planning

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： F. Rohrdanz H. Mosemann F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

Assembly planning systems generate plans for the automated assembly of mechanical products by robots. The sequences to be generated underlie several physical and geometrical constraints and in addition have to be efficient to increase productivity. The challenges still facing the field are to develop efficient and robust analysis tools and to develop planners capable of finding optimal or near-optimal sequences rather than just feasible sequences. This paper addresses the problem of discovery and computation of new measures for assembly cost evaluation. The evaluation criteria are based on the results of the constraint checking process of a high level assembly planning system. The selection of the best assembly plan can be geared towards optimizing these evaluation criteria.

关键词： Assembly systems Robotic assembly process planning Costs Artificial intelligence process control Mechanical products Productivity Robustness Explosions

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Geometrical and physical cost evaluation for robot assembly sequence planning

Geometrical and physical cost evaluation for robot assembly ...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： H. Mosemann F. Rohrdanz F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Technische Universitat Braunschweig Braunschweig Niedersachsen DE

关键词： Robotic assembly Costs Assembly systems process planning robotics and automation Grippers Artificial intelligence process control Productivity Explosions

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HighLAP: A High Level System for Generating, Representing, and Evaluating Assembly Sequences

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International Journal on Artificial Intelligence Tools 1997年第2期6卷 149-163页

作者： F. Röhrdanz H. Mosemann F. M. Wahl Institute of Robotics and Computer Control Technical University of Braunschweig Hamburger Str. 267 38114 Braunschweig Germany

In this paper we present our high level assembly planning system High LAP· High LAP generates and evaluates all assembly sequences of a mechanical assembly with minimal user interaction. For the evaluation of all feasible assembly sequences several criteria are taken into account. High LAP considers for example the separability and the manipulability of the generated (sub)assemblies. Furthermore, the necessity of reorientation for a mating operation and parallelism during plan execution is considered. Another important criterion is the stability of the generated (sub)assemblies. Most of the assembly planners developed up to date use heuristics or user defined criteria to determine assembly stability for plan evaluation. In order to bring automatic assembly planning closer to reality High LAP performs a powerful geometrical and physical reasoning. The presented system is the first assembly planning system taking into account the range of all stable orientations of an assembly considering friction for plan evaluation.

关键词： Assembly Plan Generation Assembly Plan Evaluation Stability Analysis Assembly Strategies Task Planning

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Acquisition of obstacle motion patterns to improve mobile robot motion planning

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Advanced robotics 1997年第5期12卷 565-578页

作者： Kruse, Eckhard Gutsche, Ralf Wahl, Friedrich Institute for Robotics and Process Control Technical University of Braunschweig Braunschweig 38114 Hamburger Strasse 267 Germany

Mobile robots for advanced applications have to act in environments which contain moving obstacles (humans). Even though the motions of such obstacles are not precisely predictable, usually they are not completely random;long-term observation of obstacle behavior may thus yield valuableknowledge about prevailing motion patterns. By incorporating such knowledge as statistical data, a new approach called statistical motion planning yields robot motions which are better adapted to the dynamic environment. To put these ideas into practice, an experimental system has been *** observe the workspace in order to detect obstacle motion. Statistical data is derived and represented as a set of stochastic trajectories. This data can be directly employed in order to calculate collision probability, i.e. the probability of encountering an obstacle during the robot'smotion. Further aspects of motion planning are addressed: path planning which minimizes collision probability, estimation of expected time to reach the goal and reactive planning. © VSP and robotics Society of Japan 1997.

关键词： Collision probability Global monitoring system Image processing Mobile robots Motion planning Moving obstacles Statistical models

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