The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP ...
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The localization of indoor mobile robots was studied. Point cloud data of surrounding environments were obtained by a two-dimensional laser range finder, and then three scan-matching algorithms, including Trimmed ICP (iterative closest point) algorithm, corner feature matching based HAYAI algorithm, as well as point-line matching based PLICP algorithm, were used respectively to estimate the relative displacement between two consecutive measurements to calibrate the localization result from odometer approaches. Better accuracy of long-range localization of indoor mobile robot could be achieved thereby. In the simulation, both the real-time property and accuracy of the mentioned three methods used were compared, showing the effectiveness and application field of the methods.
Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. Howev...
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This paper presents a composite disturbance rejection control strategy for high purity binary distillation column with complex characteristics,such as couplings,non-minimum phase,model mismatches and external *** goal...
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ISBN:
(纸本)9781479900305
This paper presents a composite disturbance rejection control strategy for high purity binary distillation column with complex characteristics,such as couplings,non-minimum phase,model mismatches and external *** goal of the controller is to get the desired top and bottom compositions in presence of both model mismatches and external *** composite controller includes neural network inverse controller(NNIC) and neural network disturbance observer(NNDOB) both using radial basis fimction network(RBFN).The inverse model of the system is identified by RBFN,whose stability is proved via the Lyapunov fimction *** a rigorous analysis is also given to show why the NNDOB can effectively suppress the *** of the proposed scheme is compared with PID and NNIC schemes in two *** feasibility, effectiveness and disturbance rejection property of the proposed method are demonstrated by the simulation studies.
In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and en...
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In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.
A self-motion planning method for a redundant manipulator subject to the primary task constraint was proposed based on random generation of joint configurations and depth-first search. Exploiting the self-motion prope...
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A self-motion planning method for a redundant manipulator subject to the primary task constraint was proposed based on random generation of joint configurations and depth-first search. Exploiting the self-motion property of a redundant manipulator, a random configuration generation algorithm of a manipulator configuration was proposed for solving a set of joint configurations corresponding to a given end-effector pose and a depth-first search strategy was designed to find a collision-free configuration from the configuration set generated at random. By repeating the process for every pose from the initial to the end one in the task, a collision-free joint path can be obtained eventually. Taking a redundant manipulator of MOTOMAN VA1400 as an example, a simulation study was carried out. The result shows that the method presented is effective.
From the scheduling problem of dual-bridge water-jet cutting system, a new multiple traveling salesman problem called overlapped multiple traveling salesman problem (OMTSP) was extracted and purified, a method was pro...
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From the scheduling problem of dual-bridge water-jet cutting system, a new multiple traveling salesman problem called overlapped multiple traveling salesman problem (OMTSP) was extracted and purified, a method was proposed based on a genetic algorithm. The algorithm provides a double chromosomes of city and salesman encoding solution, and designs appropriate crossover and mutation operators. The results show that the algorithm enjoys rapid converge and can achieve a good solution of OMTSP.
The second-order sliding mode control generates important properties for closed-loop systems, such as robustness, disturbance rejection and finite-time convergence. In this study, it is shown that the adding a power t...
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This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom (DOF) laboratory helicopter system by using a nonlinear robust feedback and a neural network (NN) feedforw...
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This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom (DOF) laboratory helicopter system by using a nonlinear robust feedback and a neural network (NN) feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter's elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.
One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anth...
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A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual targ...
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A novel high-performance, low-power and generic-structured distributed visual localization system is proposed for augmenting mobile-robot navigation in intelligent environment. To overcome the influence on visual target perception caused by senor, clustering background and lighting condition changes, a projection based color target recognization method is employed. A new localization algorithm combining Tsai's calibration and polynomial fitting is proposed, as well as a multi-camera collaborative strategy. This improves the accuracy and reliability of the global visual localization in a complex environment. Hardware and software structure of smart sensing nodes based on embedded DSP TMS320DM642 is developed. key functions of real-time visual information acquisition, processing and network interface are integrated in the smart nodes. Application and experiments with the mobile robot navigation control platform verifies the localization accuracy as well as other favorable performances.
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