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Differential Evolution Based Receding Horizon control for UAV Motion Planning in Dynamic Environments

机器人 2013年第1期35卷 107-114页

作者： ZHANG Xing School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China Decision and Cognitive Sciences Research Centre Manchester Business School University of Manchester Manchester M15 6PB UK

This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control *** horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in *** flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective *** results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.

关键词：无人机在线运动规划动态约束目标函数

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Multirate Multisensor Distributed Data Fusion Algorithm for State Estimation with Cross-Correlated Noises

Multirate Multisensor Distributed Data Fusion Algorithm for ...

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第三十二届中国控制会议

作者： Yulei Liu Liping Yan Yuanqing Xia Mengyin Fu Bo Xiao School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology School of Information and Communication Engineering Beijing University of Posts and Telecommunications

ISBN: (纸本)9781479900305

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are *** simplicity,we consider two sensors where one's sampling rate is three times as much as the other'*** noises of different sensors are cross-correlated and are also coupled with the system noise of the previous step. By use of the projection theorem and induction hypothesis repeatedly,a distributed fusion estimation algorithm is *** algorithm is proven to be distributed optimal in the sense of Linear Minimum Mean Square Error(LMMSE) and can effectively reduces the oscillation existed in the sequential ***,a numerical example is shown to illustrate the effectiveness of the proposed algorithm.

关键词： State estimation Distributed data fusion Cross-correlated noises Multirate

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Ballistic method based on improved particle swarm optimization algorithm

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Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) 2013年第SUPPL.I期43卷 215-218页

作者： Cui, Jing Deng, Fang Fang, Hao School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology Beijing 100081 China

In order to improve real-time performance of the fire control system, a ballistic resolving method based on the improved particle swarm optimization (PSO) algorithm is proposed, which improves the response speed of the system and provides a convenient extension to parallel computing on multicore platforms. First, particles are generated and initialized around the pre-estimated aiming angle. Then each particle is evaluated by an objective function composed of the ballistic differential equation etc. Finally, the position and velocity of particle swarm are updated. In order to accelerate the convergence speed, the correction angle of the global best particle obtained by Zhou's iterative and correction formula is used to guide the update of particle swarm. Experimental results show that the calculation speed is twice that of the iterative and correction method, and the convergence speed of particle swarm is 1.5 times that of the conventional PSO algorithm. Moreover, the proposed method is fully compatible with parallel computing and can further shorten execution time on multicore platforms.

关键词： Ballistics

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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Vehicle detection method based on active basis model and symmetry in ITS

Vehicle detection method based on active basis model and sym...

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2013 16th International IEEE Conference on intelligent Transportation systems: intelligent Transportation systems for All Modes, ITSC 2013

作者： Yao, Yanjie Gang, Xiong Wang, Kunfeng Zhu, Fenghua Wang, Fei-Yue State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing 100190 China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Dongguan China

ISBN: (纸本)9781479929146

Vehicle detection is a foundational and significant task in video surveillance systems. In this paper, a vehicle detection method using a deformable model and symmetry is proposed. First, we learn the active basis model (ABM) from the target training sample set by using the shared sketch algorithm. Then, we utilize the edge information obtained by ABM and HSV color information to do symmetry analysis for vehicle objects. The ABM can detect vehicles in various poses, shapes, and sizes for its deformability. By doing edge and color symmetry analysis, subtle difference between two images and environment noises can be adapted. The results of experiments indicate that our approach is capable of detection different vehicles and localization vehicle in bad environment. What's important, the detection results support the capability of the proposed method to enable the introduction of novel intelligent transportation systems applications. © 2013 IEEE.

关键词： Vehicles

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Adaptive robust control for electric linear actuator using modified LuGre model with fast load-based parameter estimation

Adaptive robust control for electric linear actuator using m...

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Chinese control Conference (CCC)

作者： Renjian Hao Junzheng Wang Jiangbo Zhao Key laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing P. R. China

This paper addresses the position tracking control problem of electric linear actuator in the presence of nonlinearities due to its transmission process. A torque decoupling approach for electric linear actuator is proposed to achieve respective compensation. To improve the speed of time varying parameters estimating, a load-based adaption law is proposed by designing a new projection mapping which has both variable bounds and good robust performance. An adaptive robust controller is designed such that it combines decoupled torque and dead-zone compensation to preserve robustness to both parametric and nonparametric uncertainties. The modified LuGre model is used for friction compensation making a continuous transition from static model. A Lyapunov stability analysis demonstrates that all signals including tracking errors have guaranteed convergent and bounded performance. The co-simulation results show the effectiveness and the achievable control performance of the proposed control strategy with sinusoidal and point-to-point tracking experiments.

关键词： Friction Torque Load modeling Force Mathematical model Robustness Actuators

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A stability criterion for fractional-order systems with α-order in frequency domain: The 1 < α < 2 case

A stability criterion for fractional-order systems with α-o...

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Asian control Conference

作者： Zhe Gao Xiaozhong Liao Bo Shan Hong Huang School of Automation Key Laboratory of Intelligent Control and Decisionof Complex Systems Beijing Institute of Technology Beijing China

This paper proposes a stability criterion for linear fractional-order systems with the commensurate order α satisfying 1

ISBN: (纸本)9781467357661

This paper proposes a stability criterion for linear fractional-order systems with the commensurate order α satisfying 1

关键词： Stability criteria Equations Numerical stability Mathematical model Educational institutions Automation

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Investigation of Best Robot Kicking

Investigation of Best Robot Kicking

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第三十二届中国控制会议

作者： Theophile Boue Chenguang Yang Hongbin Ma Phil Culverhouse School of Computing and Mathematics University of PlymouthPlymouth PL4 8AAUnited Kingdom Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

ISBN: (纸本)9781479900305

Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an

关键词： Football Robot Robot World Cup Best Kick Motion control Compliance control Inverse Dynamics

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Cycle-slip Detection of GPS Carrier Phase with Methodology of SA4 Multi-wavelet Transform

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Chinese Journal of Aeronautics 2012年第2期25卷 227-235页

作者： HUO Guoping MIAO Lingjuan School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

That cycle-slips remain undetected will significantly degrade the accuracy of the navigation solution when using carrier phase measurements in global positioning system （GPS）. In this paper, an algorithm based on length-4 symmetric/anti-symmetric （SA4） orthogonal multi-wavelet is presented to detect and identify cycle-slips in the context of the feature of the GPS zero-differential carrier phase measurements. Associated with the local singularity detection principle, cycle-slips can be detected and located precisely through the modulus maxima of the coefficients achieved by the multi-wavelet transform. Firstly, studies are focused on the feasibility of the algorithm employing the orthogonal multi-wavelet system such as Geronimo-Hardin-Massopust （GHM）, Chui-Lian （CL） and SA4. Moreover, the mathematical characterization of singularities with Lipschitz exponents is explained, the modulus maxima from wavelet to multi-wavelet domain is extended and a localization formula is provided from the modulus maxima of the coefficients to the original observation. Finally, field experiments with real receiver are presented to demonstrate the effectiveness of the proposed algorithm. Because SA4 possesses the specific nature of good multi-filter properties （GMPs）, it is superior to scalar wavelet and other orthogonal multi-wavelet candidates distinctly, and for the half-cycle slip, it also remains better detection, location ability and the equal complexity of wavelet transform.

关键词： satellite navigation cycle-slip detection orthogonal multi-wavelet good multi-filter properties singularity detection

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Low level saliency feature extraction method based on Hessian threshold

Low level saliency feature extraction method based on Hessia...

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Chinese Automation Congress (CAC)

作者： Mingfang Du Junzheng Wang Jing Li Haiqing Cao Guangtao Cui Jianjun Fang Ji Lv Jiantao Pu Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Automation School Beijing Union University Beijing China

The local invariant feature extraction algorithm SRUF (Speeded Up Robust Features) is introduced firstly. Then the new method of finding low level visual saliency feature based on SURF is deduced. The new method pay attention to Hessian matrix threshold and extract image features through changing the Hessian threshold. The number of saliency feature points change with the change of Hessian threshold. The visual saliency feature points will become sparser when Hessian threshold becomes larger. When some certain extreme thresholds which are defined as Hessian threshold Nodes are reached, the retained feature points are remarkable discriminative and stable feature points which make up the best sparse saliency features set. The feature extraction, matching and object recognition experiments of robot vision are finished to verify the new method. Experiment results show that the method is very effective.

关键词： Feature extraction Visualization Robots Robustness Heuristic algorithms Object recognition Educational institutions

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