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Journal of Harbin Institute of Technology(New Series) 2010年第2期17卷 219-224页

作者：于淼陈杰窦丽华甘明刚 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

The positioning accuracy of a short-haul target-locating system,the inverse-GPS(IGPS) ,was analyzed in detail. The relationship between IGPS and the positioning error was discussed. The multiplicative error minimal bound of the geometric dilution of precision (GDOP) about the four-base-station IGPS was also investigated. In order to clarify the practical implementation of IGPS,the multiplicative and additive error factors which affect the positioning accuracy and theoretical estimation of positioning accuracy were presented. By analyzing the experiments of locating a target's position in virtual three-dimensional areas,the positioning performance of IGPS was illustrated. The results show that the multiplicative and additive error factors should be eliminated in IGPS to improve the positioning accuracy.

关键词： inverse-GPS(IGPS) GDOP positioning accuracy

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Distributed stereoscopic rotating formation control of networks of second-order agents

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Journal of systems Engineering and Electronics 2013年第3期24卷 480-487页

作者： Li Song Qinghe Wu Di Yu Yinqiu Wang Key Laboratory of Complex System Intelligent Control and Decision(Ministry of Education) School of AutomationBeijing Institute of Technology School of Automation Beijing Institute of Technology

Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.

关键词： multi-agent system collective motion stereoscopic rotating formation control.

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Three-dimensional multi-constraint route planning of unmanned aerial vehicle low-altitude penetration based on coevolutionary multi-agent genetic algorithm

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Journal of Central South University 2011年第5期18卷 1502-1508页

作者：彭志红吴金平陈杰 School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision of Ministry of Education Beijing Institute of Technology

To address the issue of premature convergence and slow convergence rate in three-dimensional (3D) route planning of unmanned aerial vehicle (UAV) low-altitude penetration,a novel route planning method was *** and foremost,a coevolutionary multi-agent genetic algorithm (CE-MAGA) was formed by introducing coevolutionary mechanism to multi-agent genetic algorithm (MAGA),an efficient global optimization algorithm.A dynamic route representation form was also adopted to improve the flight route ***,an efficient constraint handling method was used to simplify the treatment of multi-constraint and reduce the time-cost of planning *** and corresponding analysis show that the planning results of CE-MAGA have better performance on terrain following,terrain avoidance,threat avoidance (TF/TA2) and lower route costs than other existing *** addition,feasible flight routes can be acquired within 2 s,and the convergence rate of the whole evolutionary process is very fast.

关键词： unmanned aerial vehicle （UAV） low-altitude penetration three-dimensional （3D） route planning coevolutionary multiagent genetic algorithm （CE-MAGA）

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Loose Coupling Visual-lidar Odometry by combining VISO2 and LOAM 36

Loose Coupling Visual-lidar Odometry by combining VISO2 and ...

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第36届中国控制会议

作者： Min Yan Junzheng Wang Jing Li Chi Zhang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9781538629185

Odometry is a very popular research direction in recent decades and plays a very critical role in the autonomous navigation ***02,as a relatively robust and mature visual odometry algorithm,becomes unreliable when distinct visual features are insufficiently or when the texture of the environment is *** if not in such a challenging environment,the drift is still a big problem for the practical ***,a lidar odometry algorithm,has been leading the way for the performance on KITTI data *** fact,it also has limitations in shape features not prominent environment,like a highway with few buildings *** that the current mobile unmanned platforms（e.g.,unmanned vehicles） are almost equipped with both lidar and cameras,this paper proposes a loose coupling visual-lidar odometry by combining VIS02 and LOAM to achieve the advantages of both camera and lidar and reduce the number of restricted *** algorithm proposed in this paper is tested on the raw data set of *** average translation error is about 1.37% on 10 sequences,and the accuracy is improved with respect to LOAM with the same *** the help of VIS02,the algorithm also performs well in shape features not prominent environment（e.g.,highway）,and from the experiment results,we confirmed the efficient strategy to combine VIS02 and LOAM to adapt to challenging environment and to keep the accuracy of the algorithm.

关键词： Ego-motion Estimation Visual Odometry Lidar Odometry SLAM

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Unsupervised robust recursive least-squares algorithm for impulsive noise filtering

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Science China(Information Sciences) 2013年第4期56卷 203-212页

作者： CHEN Jie MA Tao CHEN WenJie PENG ZhiHong School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision(Beijing Institute of Technology) Ministry of Education

A robust recursive least-squares(RLS) adaptive filter against impulsive noise is proposed for the situation of an unknown desired *** minimizing a saturable nonlinear constrained unsupervised cost function instead of the conventional least-squares function,a possible impulse-corrupted signal is prevented from entering the filter’s weight updating ***,a multi-step adaptive filter is devised to reconstruct the observed "impulse-free" noisy sequence,and whenever impulsive noise is detected,the impulse contaminated samples are replaced by predictive *** on simulation and experimental results,the proposed unsupervised robust recursive least-square adaptive filter performs as well as conventional RLS filters in "impulse-free" circumstances,and is effective in restricting large disturbances such as impulsive noise when the RLS and the more recent unsupervised adaptive filter fails.

关键词： unsupervised adaptive filtering impulsive noise suppression recursive least-squares algorithm

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Obstacle Information Detection Based on Fusion of 3D LADAR and Camera 36

Obstacle Information Detection Based on Fusion of 3D LADAR a...

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第36届中国控制会议

作者： Jing Li Liuzhi Yu Junzheng Wang Min Yan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781538629185

Obstacle information detection is a prerequisite for safety and stability driving of unmanned platforms in the unknown *** detection of the obstacle using the 3D laser radar(3D LADAR) and camera is proposed in this ***,joint calibration between 3D LADAR and camera based on the planar feature method is ***,laser point cloud is clustered to identify the number of obstacles,and then detected image is divided into the corresponding small regions according to the number of ***,we use the image processing technology to detect the obstacle *** experiments in the real world are implemented to show that the proposed approach can effectively detect the size of the obstacles.

关键词： Obstacle detection Joint calibration Monocular camera 3D LADAR Information fusion

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A New Fast and Robust Template Matching with Randomness 29

A New Fast and Robust Template Matching with Randomness

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第29届中国控制与决策会议

作者： Chang Liu Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509046584

Template matching is one of the most important techniques in computer vision,where the algorithm should find the location of template image in scene *** commonly used method of template matching is Normalized Cross Correlation which has a high matching accuracy while consuming a large amount of computational *** this paper,a novel,fast and robust template matching approach is *** new algorithm randomly visits the pixels and locates local maxima by gradually moving to the regions with larger NCC *** further improve the speed and accuracy of the algorithm,several additional rules are *** analysis and experimental results show that the proposed algorithm maintain a high matching accuracy while providing a significant speedup.

关键词： Template Matching Normalized Cross Correlation Brightness-contrast Invariance

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controlling the depth of a gliding robotic dolphin using dual motion control modes

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Science China(Information Sciences) 2020年第9期63卷 217-230页

作者： Jian WANG Zhengxing WU Min TAN Junzhi YU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESAT College of Engineering Peking University

This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight(LOS)method with an adaptive control approach(ACA) to deal with uncertainties in the model parameters. First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA’s control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.

关键词： gliding robotic dolphin depth control dual motion adaptive control approach

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Echo state network based symbol detection in chaotic baseband wireless communication

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Digital Communications and Networks 2023年第6期9卷 1319-1330页

作者： Huiping Yin Chao Bai Haipeng Ren Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an710048China Xi'an Key Laboratory of Intelligent Equipment Xi'an Technological UniversityXi'an710021China

The Chaotic Baseband Wireless Communication system(CBWCS)is expected to eliminate the Inter-Symbol Interference(ISI)caused by multipath propagation by using the optimal decoding threshold that is the sum of the ISI caused by past decoded bits and the ISI caused by future transmitting ***,the current technique is only capable of removing partial effects of the ISI,because only past decoded bits are available for the suboptimal decoding threshold *** unavailability of the future information needed for the optimal decoding threshold is an obstacle to further improve the Bit Error Rate(BER)*** contrast to the previous method using Echo State Network(ESN)to predict one future bit,the proposed method in this paper predicts the optimal decoding threshold directly using *** proposed ESN-based threshold prediction method simplifies the symbol decoding operation by avoiding the iterative prediction of the output waveform points using ESN and accumulated error caused by the iterative *** this approach,the calculation complexity is reduced compared to the previous ESN-based *** proposed method achieves better BER performance compared to the previous *** reason for this superior result is ***,the proposed ESN is capable of using more future symbols information conveyed by the ESN input to obtain more accurate threshold rather than the previous method in which only one future symbol was ***,the proposed method here does not need to estimate the channel information using Least Squared(LS)method,which avoids the extra error caused by inaccurate channel information *** results and experiment based on a wireless open-access research platform under a practical wireless channel show the effectiveness and superiority of the proposed method.

关键词： Chaotic baseband wireless communication system(CBWCS) Inter-symbol interference(ISI) Echo state network(ESN) Threshold prediction

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Variable Support-Weight Approach for Correspondence Search Based on Modified Census Transform

Variable Support-Weight Approach for Correspondence Search B...

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2012 IEEE 11th International Conference on Signal Processing(ICSP 2012)

作者： Huajian Zhu Junzheng Wang Jing Li Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781467321969

The computation of stereo depth is a very important field of computer vision. Aiming at solving the problem of low accuracy of traditional Census-based stereo matching algorithm, a variable support-weight approach for visual correspondence search based on modified Census transform is proposed in this paper. On the basis of analyzing defects of the traditional Census transform, a modified Census transform algorithm using average value of minimum evenness sub-area as a reference instead of the center pixel intensity as a reference is raised which enhances robustness of the algorithm. The matching accuracy is improved by weighting the average value and the standard deviation of Hamming distances in a block. The experiment results indicate that the proposed approach works better than traditional ones. Accurate disparities can be obtained even in the depth discontinuities regions.

关键词： stereo matching variable support-weight modified Census transform minimum evenness sub-area

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