Visual homing refers to navigating a robot from an unknown position towards a predefined home position using visual information. The approach in this paper is based on image correlation extracted from the panoramic im...
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ISBN:
(纸本)9781479959020
Visual homing refers to navigating a robot from an unknown position towards a predefined home position using visual information. The approach in this paper is based on image correlation extracted from the panoramic images at current and home positions. Our contribution is in designing a Lyapunov function based control-law for homing to a predefined place using the information obtained from matching the panoramic images without estimating homing vector or the bearing information of the current position with respect to the home position. Matching panoramic images render the coarse idea about the change in distance value with respect to the home position. The proposed control-law depends on the output of a signum function. The input to the signum function is the derivative of change in distance function and matching panoramic images provides this information. The performance of the control-law is investigated using simulations with real image data. The proposed control law is in general applicable to applications where aim is to reach the extreme (minima or maxima) value of the sensor information. Applicability of the proposed control-law to different autonomous applications would be investigated in future.
It is important to gather knowledge of orientation of the robot at any pose in many mobile robotic tasks. A visual compass is a technique that matches images to find the orientation of a robot. These images are collec...
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It is important to gather knowledge of orientation of the robot at any pose in many mobile robotic tasks. A visual compass is a technique that matches images to find the orientation of a robot. These images are collected at the reference and current pose of the robot. A robust visual compass technique is proposed to determine the orientation of the robot at any pose with respect to a reference direction using multiple cameras for unknown dynamic environment. The multiple camera system is the only sensor used to develop visual compass technique. The method estimates the orientation of the robot by finding first coarse and then fine angle difference between reference and current positions. The experiments in indoor and outdoor dynamic environment validate that the proposed visual compass technique estimates the orientation of a mobile robot with respect to its orientation at reference position within ±5° error. The proposed technique does not use expensive image processing tasks such as feature extraction and feature matching.
A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same ...
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A new approach is presented to analyze sliding mode control in discrete-time systems using an established reaching law, whereby the ultimate band is obtained to be lesser than any previous analysis done with the same reaching law. Multirate Output Feedback technique of fast output sampling is used to calculate the control action. The controller parameters are evaluated according to the ultimate band that is desired, giving rise to a negative switching gain, contradicting popular notion of non-negative switching gains used in sliding mode control.
The study on artificial intelligence(AI) methods for tuning of particle accelerators has been reported in many *** paper presents tuning method for agent-based controlsystems of transport lines in the case of sensor/...
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The study on artificial intelligence(AI) methods for tuning of particle accelerators has been reported in many *** paper presents tuning method for agent-based controlsystems of transport lines in the case of sensor/actuator *** method uses model-based tracking concept to relax the demand on sensor *** condition for successful operation of the stated scheme is derived,and the concept is demonstrated through simulation by applying it to the model of microtron,transport line-1 and booster of indus *** results show that this approach is very effective in transport line control during sensor/actuator failures.
The pseudo continuous current mode (PCCM) operation of a boost converter can be treated as an intermediate between the continuous current mode (CCM) and discontinuous current mode (DCM) operation. The advantages in DC...
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The pseudo continuous current mode (PCCM) operation of a boost converter can be treated as an intermediate between the continuous current mode (CCM) and discontinuous current mode (DCM) operation. The advantages in DCM operation and CCM operation can be effectively compromised to get this intermediate operation. In addition, the control flexibility and stability in DCM operation of a boost converter can be attributed to the PCCM operation as far as the control design is concerned. In this paper, three types of mode switched control designs based on the hybrid automaton model, namely, system theoretical design, circuit theoretical design and energy based design for a PCCM boost converter are analyzed and compared. Analysis, control design and simulation results are presented.
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