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Mobile robot path planning method combined improved artificial potential field with optimization algorithm

High Technology Letters 2011年第2期17卷 160-165页

作者：赵杰 Yu Zhenzhong Yan Jihong Gao Yongsheng Chen Zhifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model （IAPFM） was established, then a new path planning method combining the IAPFM with optimization algorithm （trust region algorithm） is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points ; on this basis, the effect of dynamic obstacles velocity and the robot＇s velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field inten- sities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment.

关键词： trust region optimization algorithm path planning artificial potential field mobile robot potential field intensity

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Running control of a quadruped robot in trotting gait

Running control of a quadruped robot in trotting gait

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Jiang, Zhenyu Li, Mantian Guo, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

In this work, a quadruped robot designed for trotting gait with compliant leg is proposed. Based on the Spring-Loaded Inverted Pendulum model (SLIP), simplified models of different degrees of freedom (DOF) of the robot body are constructed. Under the analysis of the dynamics model, a simple running control method was implemented to decouple six DOF of the body, which requires minimal task level feedback and only controls the leg torque and touch down angle. In simulation this control method successfully executes on robot running from stationary to a constant speed when climbing up or down slope with well regulated pitching, rolling and yawing motions. Additionally, a prototype robot is constructed, and the control method is verified by prototype experiment in the sagittal plane. © 2011 IEEE.

关键词： Degrees of freedom (mechanics)

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Touchdown angle's impact on bounding gait of the quadrupeds

Touchdown angle's impact on bounding gait of the quadrupeds

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Wang, Haowei Wang, Pengfei Wang, Xin Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

The study of touchdown angle's impact on quadrupeds such as gait, stability, speed, height is valuable. This paper unifies two common models for quadrupeds-SLIP and planar model, gets a feasible and efficient fixed point search strategy, and proposes a gait classification method based on the event sequence. On this basis, we study the influence of touchdown angle on quadruped robot in a variety of energy levels, and find that the change of touchdown angle would cause cycle bifurcation and chaos phenomena. Meanwhile, we notice in certain energy level and reasonable parameters configuration, different touchdown angles mean different gaits and only change of touchdown angle can make gait transition. In a fixed energy level, the impact of touchdown angle on horizontal speed, apex height and pitch angle is not obvious, but for pitch angular velocity it has obvious effect, and we reveal the importance of pitch angle and related variables such as inertia, mass distribution for quadruped control. Under the meaning of stable fixed points, speed adjust by changing touchdown angle is of little effect;however energy control is a feasible method. © 2011 IEEE.

关键词： Angular distribution

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PET/CT/MRI image fusion based on mobile robot

PET/CT/MRI image fusion based on mobile robot

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2011 4th International Conference on Biomedical Engineering and Informatics, BMEI 2011

作者： Wang, Weidong Wu, Dongmei Dong, Wei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424493524

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. Third, the process of PET/MRI image fusion based on transformational matrix is presented, and the matrix are calculated by the sensors message. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely. © 2011 IEEE.

关键词： Image fusion

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A Study on sEMG Simulation Modeling and Its Decomposition Methods

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Chinese Journal of Biomedical Engineering(English Edition) 2012年第1期21卷 1-11页

作者： ZOU Ling MA Xiao-juan RONG Hai-long School of Information Science & Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin 150001 China

In this paper, we establish a surface electromyography(sEMG) signal model and study the signal decomposition method from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train(MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained; secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms; lastly, the spikes corresponding to each motor unit action potential from the simulated sEMG signals were detected by applying the wavelet transform (WT) method. Simulation results showed that sEMG model could describe the physiological process of sEMG, ICA and WT methods could extract the sEMG signal and its features, which will lay a foundation for further classifying the MUAP.

关键词： sEMG simulation recruitment and firing motor unit action potential independent component analysis wavelet transform

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Planar Region Alignment based Visual Regulation for Mobile Robot

Planar Region Alignment based Visual Regulation for Mobile R...

引用

International Conference on Mechatronics and Automation

作者： Z. L. Wang Y. Liu B. G. Cai J. Zhao School of Electronic Information and Engineering Beijing Jiao Tong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467312752

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24], Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation.

关键词： Region alignment Monocular vision Mobile robot Visual regulation Lypunov stability theory

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Dynamic simulation and analyzation of arc welding robot

Dynamic simulation and analyzation of arc welding robot

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International Workshop on Intelligent systems and Applications

作者： Yu, Dianyong Ding, Kai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424498574

In this paper, we take 6kg arc welding robot designed by our lab as research object and build a complex virtual prototype model. A fast, intuitive and effective dynamics method which is based on simulink and robotics toolbox is designed to validate the virtual prototype model is right. On this basis we check the select of motor and reducer. © 2011 IEEE.

关键词： Industrial robots

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Global model of PMLSM drive system using bond graph method

Global model of PMLSM drive system using bond graph method

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2011 International Conference on Electric and Electronics, EEIC 2011

作者： Li, Teng Liu, Yanjie Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783642217463

Global model of permanent magnet linear synchronous motor (PMLSM) drive system is built in this paper by bond graph method. In the global model each component of PMLSM drive system are concerned, which include motor driver, PMLSM, mechanism structure and sensor. 20-sim software is used to simulate the global model and do analysis of system's character. Simulation results illustrate that time constant of inverter in motor driver results in response lag, and sensor resolution influences the following accuracy. The process of modeling and analyzing fully shows the superiority of bond graph method and 20-sim software in multi domain system. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Synchronous motors

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Motion-control-based analytical model for wheel-soil interaction mechanics of lunar rover

Motion-control-based analytical model for wheel-soil interac...

引用

6th International Forum on Strategic Technology, IFOST 2011

作者： Xia, Kerui Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

During rover lunar exploration missions (such as China's "Chang'e"), rovers are required to move autonomously on the loose lunar soil. Control methods based on the rigidity hypothesis can hardly be expected to satisfy these requirements practically so wheel-soil interaction mechanics should be taken into account. The currently used integral model based on wheel-soil interaction mechanics, however, is complicated, and it cannot be directly applied to the design of a lunar rover's controller. This paper presents a new simplified method of determining the wheel-soil interaction of lunar rovers by introducing a normal stress factor and the ratio of the forward region to the rear region, based on an analysis of the integral model and lunar soil parameters. As an example, numerical analysis is performed for a lunar rover wheel with a width of 165 mm and a radius of 135 mm. Based on a slip ratio as high as 0.4 and an entrance angle that varies from 10° to 40°, the results show that the maximum errors of the model for the calculation of normal force and drawbar pull force are less than 2%, while the maximum error of resistance torque is approximately 5%. When designing a rover's controller, the relationship between the driving torque of wheel T and the drawbar pull of wheel FDP is T = FDPr according to the rigidity hypothesis, a relationship that contradicts the terramechanics model. The proposed simplified model, which is verified by experiments, provides an important basis for the design of a control algorithm for a lunar rover that takes into account lunar wheel-soil interaction mechanics. © 2011 IEEE.

关键词： Rovers

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Positioning for array micro-holes punching

Positioning for array micro-holes punching

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6th International Forum on Strategic Technology, IFOST 2011

作者： Liu, Yanwu Qu, Dongsheng Wu, Xing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

The forming technique of micro-punching is an important method for precision plastic machining of micro-parts, the micro-hole size must be sub-millimeter in two-dimension. To punch less than 200μm micro-holes on thin plate and realize precise positioning, established positioning system based on micro-vision technology and detected the location of thin plate by the image of reference hole. Proposed a localization algorithm based on coordinate transformation, eliminated the positioning error, and achieved micro-hole positioning by controlling the servo platform. Completed the study on the image processing method, identified the reference hole by Hough and least-square circle detecting method. © 2011 IEEE.

关键词： Least squares approximations

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