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An autonomous mobile robot with fuzzy obstacle avoidance behaviors and a visual landmark recognition system

An autonomous mobile robot with fuzzy obstacle avoidance beh...

引用

International Conference on control, Automation, robotics and Vision (ICARCV)

作者： S.X. Yang Hao Li Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ONT Canada

Multi-sensor fusion has been a hot topic in the field of robotics. Inspired by the modern philosophy's spirit, the behavior-based systems interact with the real world directly. In this study, a fully autonomous mobile robot is developed that extracts all its knowledge from physical sensors and expresses all its goals and desires as physical action to affect its environment. The control software implements behavior-based artificial intelligence, where the coordination between various sensors are realized by layers of several simple and primitive behaviors similar to those observed in animals. In the developed mobile robot, each module itself generates behaviors. Behaviors corresponding to different sensors have different priorities, where the vision system has the lowest priority, and the ultrasonic sensors and bumper sensors have higher priority. The effectiveness of the developed system is demonstrated by experimental studies.

关键词： Mobile robots Fuzzy systems intelligent sensors Robot sensing systems Robot kinematics intelligent robots Sensor systems Fuzzy sets Artificial intelligence Fuzzy logic

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Analysis and design of an embedded fuzzy motion controller for a nonholonomic mobile robot

Analysis and design of an embedded fuzzy motion controller f...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Hao Li S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, fuzzy control laws for steering control of an autonomous nonholonomic mobile robot are designed and analyzed. The approach uses Lyapunov's direct method to formulate a class of control laws that guarantee the convergence of the steering error. Certain requirements for the control laws are presented for the designers to choose a suitable rule base for the fuzzy controller in order to make the system asymptotically stable. The stability of the proposed fuzzy controller is theoretically proved and also demonstrated by simulation studies. Simulations using the model of a four degree of freedom nonholonomic mobile robot are conducted to investigate the performance of the fuzzy controller. The proposed fuzzy controller is also implemented on a nonholonomic mobile robot described by the model and the results show that the proposed fuzzy controller can achieve the desired turning angle and the autonomous mobile robot follows the target satisfactorily.

关键词： Fuzzy control Motion analysis Motion control Mobile robots control systems Convergence Error correction Fuzzy systems Stability Turning

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Neural dynamics and computation for navigation of multiple robots

Neural dynamics and computation for navigation of multiple r...

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IEEE International Conference on systems, Man and Cybernetics

作者： S.X. Yang Chaomin Luo Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

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From modern philosophy to intelligent robot

From modern philosophy to intelligent robot

引用

World Congress on intelligent control and Automation (WCICA)

作者： Hao Li S.X. Yang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

Thinking and intelligence can never be separated from the world. Modern philosophy rests on a new interpretation of the nature and fulfillment of human reason, and disputes about the nature of human reason are the ultimate battles of philosophy. The symbol based AI approach is not practical for real world problems. The world is artificial intelligence's best model. Intelligence can only be determined by the dynamics of interaction with the world. Being is a temporal event inseparable from the understanding of being embodied in Dasein's forms of life. Based on the modern philosophy's spirit, the behavior-based systems interact with real world directly. The constructed AI system based on philosophy has to express all its goals and desires as physical action to affect its environment, and extract all its knowledge from physical sensors. In this study, a fully autonomous mobile robot is built, after a thorough research to the philosophy's origin of the modern AI. In the mobile robot developed, each module itself generates behavior, and improvement in the competence of the system proceeds by adding new modules to the system. The performance of the robot proves that the whole system is stable.

关键词： intelligent robots Artificial intelligence Humans intelligent systems Sensor systems Mobile robots Cybernetics Machine intelligence Councils Casting

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A remote control system using Java and CORBA architecture

A remote control system using Java and CORBA architecture

引用

World Congress on intelligent control and Automation (WCICA)

作者： Hao Li S.X. Yang Fangju Wang Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Canada Computing & Information Science Department University of Guelph Guelph Canada

Membranes hold promise as a new water treatment method of the future. In this study, a device is designed to test the efficiency of membranes. The device is implemented to be controlled remotely. An Internet based remote control system is implemented on the membrane test device to make the users access to it easier. When using the system, a remote operator only needs a general purpose computer with Internet connection to conduct a test. The engineering objective is to perform robust control over the Internet connection. A control architecture that combines computer and the membrane testing hardware is built. This system has two primary parts, the server part and the client part. A server is used to provide the application to the operator to control the hardware. The client part is executed on the remote operator's computer. The client uses a TCP/IP protocol to connect to the server through the Internet. Communication coordination between the client and the server is developed using Java and Common Object Request Broker Architecture (CORBA).

关键词： control systems Java Biomembranes Internet Web server System testing Computer architecture Hardware Robust control Application software

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Entire region filling in indoor environments using neural networks

Entire region filling in indoor environments using neural ne...

引用

World Congress on intelligent control and Automation (WCICA)

作者： Chaomin Luo S.X. Yang M. Meng Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph Canada Department of Electrical and Computer Engineering University of Alberta Edmonton Canada

Entire region filling is a special type of robot path planning strategy that requires the mobile robot to cover every part of the whole workspace, which has many applications such as cleaning robots, vacuum cleaners, painter robots, land mine detectors, lawn mowers, and window cleaners. In this paper, a novel biologically inspired neural network approach is proposed for entire region filling with obstacle avoidance of a mobile cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location. The proposed model algorithm is computationally efficient. It can deal with an unstructured environment with irregular obstacles. The effectiveness of the proposed model is demonstrated by simulation results.

关键词： Filling Indoor environments Neural networks Mobile robots Equations Cleaning Landmine detection Neurons Computational modeling Path planning

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An extension of weighted strategy sharing in cooperative Q-learning for specialized agents

An extension of weighted strategy sharing in cooperative Q-l...

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International Conference on Neural Information Processing

作者： S.M. Eshgh M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

Using other agents' experiences and knowledge, a learning agent may learn faster, make fewer mistakes, and create some rides for unseen situations. These benefits will be gained if the learning agents know the area of expertise and the expertness values of each other. In this paper, some Q-learning agents with different skills and expertness levels cooperate in learning. The agents use some criteria to judge others information and knowledge. Four expertness criterion, certainty and entropy measures are used to assign degrees of importance to others' Q-Tables. Effects of measuring these values based on their whole Q-Table, a portion of Q-Tables that reflects their proficiencies, and the states in Q-Tables on the learning quality are studied. Simple strategy sharing and two different weighted strategy-sharing methods are used to combine the acquired knowledge from different agents.

关键词： intelligent robots intelligent agent Process control control systems intelligent control Laboratories intelligent systems Physics Mathematics Entropy

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Real-time area-covering operations with obstacle avoidance for cleaning robots

Real-time area-covering operations with obstacle avoidance f...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Chaomin Luo S.X. Yang Xiaobu Yuan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada School of Computer Science Windsor University Windsor ONT Canada

An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.

关键词： Cleaning Robots Path planning Neural networks Equations Landmine detection Neurons Computational modeling Detectors Biomembranes

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

引用

International Conference on Neural Information Processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback intelligent agent intelligent robots Process control control systems intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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A new model of the visual feedback coordinate transformation in humans based on disturbance noise and feedback error that accounts for time delays

A new model of the visual feedback coordinate transformation...

引用

IEEE International Workshop on intelligent Robots and systems (IROS)

作者： E. Oyama K.F. MacDorman T. Maeda S. Tachi A. Agah Science and Technology (AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Intelligent Robotics Laboratory Graduate School of Systems Engineering Wakayama University Wakayama Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

An essential factor in understanding the motor learning capability of humans, is the coordinate transformation learning of the visual feedback controller. Although a number of learning models for the visual feedback controller have been proposed, none has been able to establish a definitive approach. In our previous work, we have suggested a learning model that uses disturbance noise and the feedback error signal to learn the human visual feedback controller's coordinate transformation. However, the model does not fully consider the time delay in the visual feedback control loop. This paper presents a modified learning model taking into account the time delay and the convergence properties of the model. Numerical simulations are presented to illustrate the effectiveness of the proposed approach.

关键词： Humans Delay effects Adaptive control Error correction Biological system modeling Feedback control Convergence Kinematics intelligent robots Velocity control

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