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Adaptive Control of Path Tracking Based on Improved Pure Pursuit Algorithm 1

3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Chi, Cheng Xu, Xiaosu Zhou, Shuai Wang, Yaqi School of Instrument Science and Engineering Southeast University Nanjing China The Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing China

ISBN: (数字)9789819710997

ISBN: (纸本)9789819710980

Path tracking accuracy is crucial in the navigation control of autonomous mobile robots. Traditional pure pursuit algorithms perform well on smooth paths but struggle on curved paths. To address the challenge of tracking tight curves on curved paths, an improved pure pursuit algorithm is proposed. It adaptively adjusts the preview distance based on the path curvature and determines the robot’s speed adaptively based on the turning radius. Additionally, the change rate of curvature is incorporated as a heuristic factor to adjust the preview distance and movement speed. The proposed algorithm is tested by using four typical paths. What’s more, it is also integrated into the autonomous navigation system to track the planned paths. Finally, prototype experiments demonstrate that compared to traditional algorithms, the proposed algorithm achieves higher accuracy and can handle more challenging paths. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： navigation systems

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A Path Planning Method Based on Simplified Visibility Graph and Support Vector Machine 8

A Path Planning Method Based on Simplified Visibility Graph ...

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8th International Conference on Automation, Control and Robotics Engineering, CACRE 2023

作者： Zhou, Shuai Xu, Xiaosu Zhong, Min Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education Southeast University School of Instrument Science and Engineering Nanjing China

ISBN: (纸本)9798350302776

The paper proposes a path planning method based on a simplified visibility graph (SVG) and support vector machine (SVM). Firstly, the centroid point set of polygon obstacles is used to construct a Delaunay triangulation network. Then, all neighbors of each obstacle are obtained from the Delaunay triangulation network to construct neighbor pairs. A global environmental SVG is then constructed by simplifying the visibility relationships between vertices of neighbor obstacle pairs. Next, the start and goal points are maintained in the SVG and the path is planned using Dijkstra's algorithm and pruning method. Additionally, an elliptical window is generated based on the globally planned path. The obstacles and the boundary of the ellipse are classified into positive and negative samples, respectively. A safe and smooth path is obtained by training the SVM based on the radial basis function (RBF). The simulation experiments show that, compared with traditional methods, the proposed method based on the Delaunay triangulation reduces the number of visual edges by more than 40% and reduces cost time by over 50%. What's more, the optimized path obtained through the SVM is sufficiently smooth and safe. © 2023 IEEE.

关键词： Support vector machines

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The influence factor analysis on stability of communication links based on cluster-tree WSN using ZigBee

The influence factor analysis on stability of communication ...

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International Conference on Mechanical Science and Engineering, ICMSE 2012

作者： Xu, Yuan Chen, Xiyuan School of Instrument Science and Engineering Southeast University Nanjing China Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing China

ISBN: (纸本)9783037854723

Zigbee technology which targets low data rate, low power consumption and low cost application is suitable for Wireless Sensor Network (WSN) as its wireless communication technology. In the construction of WSN using Zigbee, the factors which could affect the stability of communication links should be considered. In this work, we discuss the construction environment of WSN. Then, in order to access the performance of Cluster-Tree network, we develop an NS2 simulator for Cluster-Tree WSN, and analysis the influence to stability of communication links caused by sending packet ratio and communication range. The simulation results show that it is not useful to improve the stability of communication links by increasing sending packet ratio and communication range simply. Both of them should be in a relatively balanced state. © (2012) rans Tech Publications, Switzerland.

关键词： Stability

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Research on SINS/DVL integrated navigation method based on error state model 24

Research on SINS/DVL integrated navigation method based on e...

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8th International Conference on Innovation in Artificial Intelligence, ICIAI 2024

作者： Sheng, Guangrun Liu, Xixiang Cheng, Xiangzhi Luo, Hao Shao, Qiantong Yu, Hebin School of Instrument Science and Engineering Southeast University Nanjing China Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing China

ISBN: (纸本)9798400709302

This paper focuses on the issue of interference in the strapdown inertial navigation system (SINS) and Doppler velocity log (DVL) integrated navigation system, which results in nonlinearity in underwater complex situations. Lie group theory is used to put the SINS attitude and velocity state variables into the group to change the error state. Furthermore, under the premise that the state model fails to meet the affine condition, an error state space model is reconstructed with the purpose of enhancing the velocity error equation in order to satisfy the affine condition. By deducing the nonlinear error on the lie group using a property of the linear state space model that is independent of the state estimate, filter convergence can be achieved. The simulation results indicate that the new error state model can better handle spatial inconsistency and make SINS/DVL integrated navigation more accurate and stable in nonlinear situations compared to traditional methods. © 2024 ACM.

关键词： Lie groups

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Control system design and simulation of microelectromechanical hybrid gyroscope

Control system design and simulation of microelectromechanic...

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2013 International Conference on Mechatronics and Automatic Control Systems, ICMS 2013

作者： Xue, Haiyan Yang, Bo Wang, Shourong Key Lab. of Micro-inertial Instrument and Advanced Navigation Technology of Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9783319012728

In order to achieve the closed-loop control of those microelectromechanical hybrid gyroscopes with large open-loop zero outputs, a self-tuning control system is designed. Firstly, the gyroscope tuning principle is illustrated and the dynamic system is presented. Next, the whole open-loop system is analyzed and the tuning simulation is performed. The tuning simulation results confirm the feasibility of the tuning principle. Finally, the self-tuning control system is designed. The scheme of the closed-loop system is constructed and the corresponding simulation is carried out. The self-tuning simulation results indicate that the closed-loop system can lock the positions of the rotors, showing that the self-tuning control system is feasible. © Springer International Publishing Switzerland 2014.

关键词： Gyroscopes

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Hot spots enriched plasmonic nanostructure-induced random lasing of quantum dots thin film

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Chinese Physics B 2018年第4期27卷 497-502页

作者： Feng Shan Xiao-Yang Zhang Jing-Yuan Wu Tong Zhang Joint International Research Laboratory of Information Display and Visualization School of Electronic Science and Engineering Southeast University Nanjing 210096 China Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education and School of Instrument Science and Engineering Southeast University Nanjing 210096 China Suzhou Key Laboratory of Metal Nano-Optoelectronic Technology Suzhou Research Institute of Southeast University Suzhou 215123 China

Here,a plasmon-enhanced random laser was achieved by incorporating gold nanostars（NS） into disordered polymer and Cd Se/Zn S quantum dots（QDs） gain medium films,in which the surface plasmon resonance of gold NS can greatly enhance the scattering cross section and bring a large gain *** random distribution of gold NS in the gain medium film formed a laser-mode *** a single-pulse pumping,the scattering center of gold NS-based random laser exhibits enhanced performance of a lasing threshold of 0.8 m J/cm^2 and a full width as narrow as 6 nm at half *** utilizing the local enhancement characteristic of the electric field at the sharp apexes of the gold NS,the emission intensity of the random laser was *** addition,the gold NS showed higher thermal stability than the silver nanoparticles,withstanding high temperature heating up to 200？*** results of metal nanostructures with enriched hot spots and excellent temperature stability have tremendous potential applications in the fields of biological identification,medical diagnostics,lighting,and display devices.

关键词： plasmon gain medium gold nanostars random laser

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Recent progress on nanostructure-based broadband absorbers and their solar energy thermal utilization

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Frontiers of Chemical Science and Engineering 2021年第1期15卷 35-48页

作者： Tong Zhang Shan-Jiang Wang Xiao-Yang Zhang Ming Fu Yi Yang Wen Chen Dan Su Joint International Research Laboratory of Information Display and Visualization School of Electronic Science and EngineeringSoutheast UniversityNanjing 210096China Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of EducationSchool of Instrument Science and EngineeringSoutheast UniversityNanjing 210096China Suzhou Key Laboratory of Metal Nano-Optoelectronic Technology Suzhou Research Institute of Southeast UniversitySuzhou 215123China

Nanostructure-based broadband absorbers are prominently attractive in various research fields such as nanomaterials,nanofabrication,nanophotonics and energy utilization.A highly efficient light absorption in wider wavelength ranges makes such absorbers useful in many solar energy harvesting *** this review,we present recent advances of broadband absorbers which absorb light by *** start from the mechanism and design strategies of broadband absorbers based on different materials such as carbon-based,plasmonic or dielectric materials and then reviewed recent progress of solar energy thermal utilization dependent on the superior photo-heat conversion capacity of broadband absorbers which may significantly influence the future development of solar energy utilization,seawater purification and photoelectronic device design.

关键词： nanostructured broadband absorbers solar energy harvesting thermal utilization

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Adaptive Neural Network Actuator Failure Compensation Scheme for Quadrotor Trajectory Tracking Control 2

Adaptive Neural Network Actuator Failure Compensation Scheme...

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2nd International Conference on Computers and Automation, CompAuto 2022

作者： Zhu, Wenxing Wang, Lihui Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Dept. Name of Organization School of Instrument Science and Engineering Southeast University Country Nanjing China

ISBN: (纸本)9781665481946

Aiming at the problems of parameter uncertainty and actuator failure, a trajectory tracking control scheme based on adaptive RBF neural network minimum parameter learning method and dynamic sliding surface is proposed. Firstly, a nonsingular dynamic sliding mode surface is designed, and the terminal sliding mode control law for trajectory tracking of the quadrotor UAV is derived. Secondly, an adaptive RBF neural network is used to compensate the uncertainties and actuator faults of the control system. The single parameter online learning is adopted to replace the whole weight vector online learning, which reduces the complexity of the controller design and avoids the problem of dimension disaster. Thirdly, the convergence and stability of the closed-loop system are proved using Lyapunov theory. Finally, the numerical simulation experiments verify the effectiveness of the control scheme. Compared with the traditional sliding mode control method, the RMSE (Root Mean Square Error) of trajectory tracking is reduced by 8.2%. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Research on a new decoupled dual-mass micro-gyroscope

Research on a new decoupled dual-mass micro-gyroscope

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IEEE 2011 10th International Conference on Electronic Measurement and instruments, ICEMI 2011

作者： Yang, Bo Yong, Yin Huang, Libin Wang, Shourong Li, Hongsheng Key Lab. of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education Southeast University Nanjing 210096 China

ISBN: (纸本)9781424481590

A new decoupled dual-mass micro-gyroscope (DDMG) is described in this paper. The dual-mass in the micro-gyroscope can effectively reduce the common-mode interference caused by the linear acceleration. And the decoupled design in the micro-gyroscope can remove the cross-coupling between the drive-mode and the sense-mode. The working principle of the DDMG is researched and the dynamical formulas are derived. The measurement & controlling circuit is designed and achieved. The DDMG is processed and encapsulated in vacuum condition. According to the results of the sweep-frequency measure, the in-phase mode with same-frequency and the anti-phase mode with same-frequency simultaneously exist in the drive and sense modes. Finally, the prototype of the DDMG is achieved. The performance tests of the prototype show that the zero bias stability is 22.2°/h, the scale factor non-linearity is 26.5ppm, scale factor temperature coefficient is t190.7ppm/°C, zero bias temperature coefficient is 36.9°/h/°C, zero bias difference after shock test is 30.8 °/h, zero bias difference after vibration test is 18°/h and the maximum rate is ±200°/s, which proves that the design of the DDMG is successful. © 2011 IEEE.

关键词： Temperature

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On-chip temperature-control and simulation of dual-mass micro-gyroscope 12

On-chip temperature-control and simulation of dual-mass micr...

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12th IEEE International Conference on Electronic Measurement and instruments, ICEMI 2015

作者： Bo, Dai Bo, Yang Yunpeng, Deng Xingjun, Wang Di, Hu School of Instrument Science and Engineering Southeast University Nanjing210096 China Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing210096 China

ISBN: (纸本)9781479976195

This paper presents the structure design, working principles and heat transformation of the on-chip temperature-control for dual-mass micro-gyroscope. The dedicated temperature sensor and heater provide real-time monitored and controlled working environment for the micro-gyroscope, thermal stabilization is thus achieved by maintaining the gyroscope temperature larger than the highest temperature of the surroundings. Moreover, thin glass membrane is formed and hermetic vacuum encapsulation is implemented help improve the heat insulation and reduce the power consumption. Finally, FEM analyses are performed and results from the simulations validate the practicability of the on-chip temperature-control system. © 2015 IEEE.

关键词： Gyroscopes

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