检索结果-内蒙古大学图书馆

第三十九届中国控制会议

作者： Zhen Chen Yang Zhou Fengdi Zhang Min Xu Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control

Simultaneous localization and mapping（SLAM） plays an important role in autonomous navigation for mobile *** of the visual SLAM approaches use keypoints for tracking, whose performance however suffers from the unstable landmarks during task due to uncertain light condition and frequently changeable viewpoint. The situation even becomes worse for visual SLAM in low texture environment especially in indoor buildings, where the supplementary artificial markers can be used to improve the robust detection under a wider range of circumstances. Inspired by this thought, this paper developed a visual SLAM system integrated with keypoints and artificial markers. A graph optimization problem is constructed to optimize the trajectory by taking both the reprojection error of keypoints and the influence of markers into consideration. The experimental results on SPM dataset demonstrate the superior accuracy of the proposed graph optimization algorithm compared with the start-of-the-art ORB-SLAM2.

关键词： Visual simultaneous localization and mapping（SLAM） graph optimization keypoints artificial markers

来源：评论

学校读者我要写书评

暂无评论

A Modified Artificial Potential Field Method Based on Subgoal Points for Mobile Robot 16th

A Modified Artificial Potential Field Method Based on Subgoa...

引用

16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Mo, Jixue Gao, Changqing Liu, Fei Yang, Qingkai Fang, Hao Department of Mathematics and Theories Pengcheng Laboratory Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Industrial Training Center Shenzhen Polytechnic Shenzhen518055 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819964826

In this paper, a modified artificial potential field (MAPF) method was proposed for general mobile robot navigation system. This MAPF method can effectively solve the unreachable goal problem and the local minima problem of traditional APF method. The first key idea of MAPF method is to modify the repulsive force function and thus optimize the direction of total repulsive force;the second key idea is to generate a serials of subgoal points around obstacles with specific method, so as to help the robot escape from or keep away from local minima area. By comparing with other similar algorithms in simulation environment, the MAPF algorithm can generate shorter paths efficiently. More importantly, it also can generate effective paths in multi-obstacle environment where other algorithms cannot. Finally the simulation results verified the reasonability and practicability of the proposed MAPF method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Compressive phase retrieval via reweighted amplitude flow

arXiv

引用

arXiv 2017年

作者： Zhang, Liang Wang, Gang Giannakis, Georgios B. Chen, Jie Digital Technology Center Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

The problem of reconstructing a sparse signal vector from magnitude-only measurements (a.k.a., compressive phase retrieval), emerges naturally in diverse applications, but it is NP-hard in general. Building on recent advances in nonconvex optimization, this paper puts forth a new algorithm that is termed compressive reweighted amplitude flow and abbreviated as CRAF, for compressive phase retrieval. Specifically, CRAF operates in two stages. The first stage seeks a sparse initial guess via a new spectral procedure. In the second stage, CRAF implements a few hard thresholding based iterations using reweighted gradients. When there are sufficient measurements, CRAF provably recovers the underlying signal vector exactly with high probability under suitable conditions. Moreover, its sample complexity coincides with that of the state-of-the-art procedures. Finally, substantial simulated tests showcase remarkable performance of the new spectral initialization, as well as improved exact recovery relative to competing alternatives. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Security of Networked control systems with Incomplete Information Based on Game Theory

Security of Networked Control Systems with Incomplete Inform...

引用

Chinese control Conference (CCC)

作者： Lei Gao Jian Sun Jun Li Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China China Industrial Control Systems Cyber Emergency Response Team

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

The security problem of networked control systems (NCSs) suffering denial of service(DoS) attacks with incomplete information is investigated in this paper. Data transmission among different components in NCSs may be blocked due to DoS attacks. We use the concept of security level to describe the degree of security of different components in an NCS. Intrusion detection system (IDS) is used to monitor the invalid data generated by DoS attacks. At each time slot, the defender considers which component to monitor while the attacker considers which place for invasion. A one-shot game between attacker and defender is built and both the complete information case and the incomplete information case are considered. Furthermore, a repeated game model with updating beliefs is also established based on the Bayes' rule. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Security Games Energy consumption Monitoring Packet loss Bayes methods

来源：评论

学校读者我要写书评

暂无评论

ICB-MOEA/D: An interactive classification-based multi-objective optimization algorithm

ICB-MOEA/D: An interactive classification-based multi-object...

引用

第37届中国控制会议

作者： Bin Xin Hepeng Li Ling Wang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Department of Automation Tsinghua University

Interactive multi-objective optimization algorithms have developed rapidly in recent years. In this paper, we propose a new classification-based interactive multi-objective optimization algorithm named ICB-MOEA/D to solve the formulated multiobjective optimization problem. ICB-MOEA/D provides several solutions for the decision maker to choose. The decision maker chooses his/her most preferred solution from these solutions and the historical solutions which have been chosen as the current most preferred solution. ICB-MOEA/D records this solution and classifies the objectives according to the updated preference information into four categories: 1) objectives which are expected to be improved;2) objectives which can be sacrificed;3) objectives which are expected to remain basically unchanged;4) objectives which do not matter currently. Accoding to the number of the objectives in the first category, a new single-objective opitimization model or multi-objective optimization model will be built. The single-objective optimization model will be optimized by a classic variant of differential evolution DE/rand/1/bin, and the multi-objective optimization model will be optimized by a popular docomposition-based multi-objective optimizer MOEA/*** the classifications are done automatically by the algorithm, reducing the burden of the decision maker. ICB-MOEA/D was tested on the two-objective instance ZDT1, and the experiment results show the effectiveness of ICB-MOEA/D.

关键词： interactive multi-objective optimization decomposition classification virtual decision maker

来源：评论

学校读者我要写书评

暂无评论

A Multi-model Estimation of Distribution Algorithm for Agent Routing Problem in Multi-point Dynamic Task

A Multi-model Estimation of Distribution Algorithm for Agent...

引用

第37届中国控制会议

作者： Sai Lu Bin Xin Lihua Dou Ling Wang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Department of Automation Tsinghua University

The agent routing problem in multi-point dynamic task（ARP-MPDT） is a multi-task routing problem of a mobile agent. In this problem, there are multiple tasks to be carried out in different locations. As time goes on, the state of each task will change nonlinearly. The agent must go to the task points in turn to perform the tasks, and the execution time of each task is related to the state of the task point when the agent arrives at the point. ARP-MPDT is a typical NP-hard optimization problem. In this paper, we establish the nonlinear ARP-MPDT model. A multi-model estimation of distribution algorithm（EDA） employing node histogram models（NHM） and edge histogram models（EHM） in probability modeling is used to solve the ARP-MPDT. The selection ratio of NHM and EHM probability models is adjusted adaptively. Finally, performance of the algorithm for solving the ARP-MPDT problem is verified by the computational experiments.

关键词： Estimation of distribution algorithm Multi-model Routing Multi-point dynamic task

来源：评论

学校读者我要写书评

暂无评论

Adaptive exponential time-varying sliding mode control for hypersonic cruise vehicles

Adaptive exponential time-varying sliding mode control for h...

引用

Chinese control Conference (CCC)

作者： Liang Wang Xiangdong Liu Binglong Cong Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China Beijing Institute of Technology Beijing Beijing CN

ISBN: (纸本)9781467325813

This paper describes the design of an adaptive exponential time-varying sliding mode control (AETVSMC) with strong robustness for hypersonic cruise vehicles subject to parametric uncertainties on the inertial and aerodynamic coefficients. An adaptation scheme is adopted to deal with unknown but bounded system uncertainties. Thus, the selection of switching gains can be obtained on-line and the upper bounds of the model uncertainties are not required to be known in advance. Stability analysis of the closed-loop system is derived based on the Lyapunov theory. Finally, simulation results demonstrate the effectiveness and robustness of the proposed approach.

关键词： Uncertainty Vehicles Adaptation models Switches Robustness Aerodynamics

来源：评论

学校读者我要写书评

暂无评论

Trajectory tracking control of a four-wheel-steering car based on differential flatness and ADRC

Trajectory tracking control of a four-wheel-steering car bas...

引用

International Workshop on Variable Structure systems, VSS

作者： Shengfei Li Yuanqing Xia Fan Pu Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

A flatness based robust active disturbance rejection control technique is proposed for the trajectory tracking problem of a special under-actuated system known as four-wheel-steering car. The under-actuated problem of such nonlinear coupled system consisting of three degrees of freedom is settled by exploiting its flatness property to obtain an input-output map. Active disturbance rejection control (ADRC), which shows many advantages in estimating and compensating the lumped effects is then utilized. Several simulations are carried out to show the improvements in vehicle handling and stability of the flat based high-order linear ADRC scheme.

关键词： Vehicles Trajectory Wheels Frequency modulation Vehicle dynamics Tires

来源：评论

学校读者我要写书评

暂无评论

Graph Optimization Based Long-distance GPS/IMU Integrated Navigation

Graph Optimization Based Long-distance GPS/IMU Integrated Na...

引用

第三十八届中国控制会议

作者： Xiaojie Gu Fengdi Zhang Jian Xu Qing Yuan Hongwei Ma Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing Aerospace Automatic Control Institute National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing

The accurate position estimation plays an critical role in the autonomous navigation for Micro Aerial Vehicles(MAV).Global positioning System(GPS) and inertial measurement unit(IMU) are two common sensors for navigation widely used on MAVs in the urban environment. Both of them have its distinct disadvantages that the GPS is susceptible to environmental interference and the IMU has accumulative errors. To overcome these problems, a GPS/IMU integrated system based on the factor graph optimization is developed in this paper. Unlike the conventional extended Kalman filter(EKF)-based method, the graph optimization method takes the whole trajectory into consideration so that it can achieve enough accuracy even after a long distance. Furthermore, the IMU preintegration method is used to avoid the repeated computation of high-rate IMU *** with the EKF method, the experimental results on the Zurich urban micro aerial vehicle dataset show the superior accuracy of the proposed factor graph optimization algorithm.

关键词： Global positioning System(GPS) inertial measurement unit(IMU) IMU preintegration graph optimization integrated navigation

来源：评论

学校读者我要写书评

暂无评论

Coordinated Motion control for a Six-wheel-drive Skid-steering Mobile Robot

Coordinated Motion Control for a Six-wheel-drive Skid-steeri...

引用

Chinese Automation Congress (CAC)

作者： Yongkang Xu Shoukun Wang Hongqiang Zhao Zhihua Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China State Key Laboratory of High Performance and Complex Manufacturing Central South University Changsha China

ISBN: (纸本)9781665426480

A speed consensus control strategy for a six-wheel-drive skid-steering mobile robot was proposed based on a hierarchical controller in a complex environment with unknown disturbances. The effective method of reliable speed consensus control strategy should consider some disturbances, such as the internal-robot assembly error, which including instability of motor control system and external physical interference in robot dynamic system. In this paper, a driving anti-slip control system with PID and the stability control system with sliding mode by variable structure is designed and integrated to elevate the stability of the robot. And, a G-vector control algorithm based on sliding mode control is proposed to reduce the yaw angle as much as possible during the process of differential steering of robots. The effectiveness of the proposed control strategy is verified by an example of a robot. The results show that the method has good control performance in control accuracy and stability.

关键词： Uncertainty Robot kinematics Heuristic algorithms Velocity control Torque control Wheels Consensus control

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：