The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is propo...
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The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.
It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical...
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It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.
Recent technological trends have pushed concurrency and mobile computing to the mainstream. Too many semantics have been proposed to picture the behavior of concurrent systems, and their relationship has been a hot to...
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Detecting text in video or natural scene image is quite challenging due to the complex background, various fonts and illumination conditions. The preprocessing period, which suppresses the nontext areas so as to highl...
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Interactive image segmentation which needs the user to give certain hard constraints has shown promising performance for object segmentation. In this paper, we consider characters in text image as a special kind of ob...
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In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control...
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This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control ...
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This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the...
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We propose a real-time image retrieval system which allows users to search target images whose objects are similar to the query in contour, regardless of their sizes and positions appearing in the images. Even in a co...
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The paper presents a simple and effective sketch-based algorithm for large scale image retrieval. One of the main challenges in image retrieval is to localize a region in an image which would be matched with the query...
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