Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobil...
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Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.
This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from ra...
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Edge enabled Industrial Internet of Things (IIoT) platform is of great significance to accelerate the development of smart industry. However, with the dramatic increase in real-time IIoT applications, it is a great ch...
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We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especially challenging as it requires understa...
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The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (IS...
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Balancing is a fundamental need for legged robots due to their unstable floating-base nature. Balance control has been thoroughly studied for simple models such as the linear inverted pendulum thanks to the concept of...
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The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very p...
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The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very popular in AC motor *** have been widely used in various electrical appliances such as machine tools,robots,and household *** order to reduce the high-frequency chatter of the sensor-less control strategy of permanent magnet synchronous motors,a sensor-less control method based on improved SMO is *** back-EMF component in the static coordinate system is obtained through the *** backEMF component undergoes closed-loop feedback to eliminate the high-frequency *** back-EMF component is calculated by an improved PLL to obtain the position and speed of the rotor to improve system *** the end of the article,the feasibility is proved by comparing it with the simulation of conventional SMO-PLL.
Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are cha...
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In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to net...
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ISBN:
(数字)9798350309799
ISBN:
(纸本)9798350309805
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. This latency could cause a noticeable delay in the visual feedback, which jeopardizes the embodiment quality, can cause dizziness, and affects the interactivity resulting in operator frequent motion pauses for the visual feedback to settle; (ii) the mismatch between the camera's and the headset's field-of-views (FOV), the former having generally a lower FOV; and (iii) a mismatch between human's and robot's range of motions of the neck, the latter being also generally lower. In order to leverage these draw-backs, we developed a decoupled viewpoint control solution for a humanoid platform which allows visual feedback with low-latency and artificially increases the camera's FOV range to match that of the operator's headset. Our novel solution uses SLAM technology to enhance the visual feedback from a reconstructed mesh, complementing the areas that are not covered by the visual feedback from the robot. The visual feedback is presented as a point cloud in real-time to the operator. As a result, the operator is fed with real-time vision from the robot's head orientation by observing the pose of the point cloud. Balancing this kind of awareness and immersion is important in virtual reality based teleoperation, considering the safety and robustness of the control system. An experiment shows that the effectiveness of our solution.
In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-...
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ISBN:
(纸本)9781665405362
In this paper, a novel model-free control scheme is proposed for synchronous motion control of multiple continuum robots. The control problem is formulated as two convex optimization routines in an adaptive and model-free closed-loop framework. The proposed approach is heading to address cooperative task execution for multiple continuum robots. The model-free feedback control guarantees the high portability for a wide range of continuum robots. Simulation studies are conducted on two kinds of tasks, which are cooperative task execution with two robots and simultaneously tracking control with three robots. Besides, the superiority of proposed approach is validated through comparisons with other methods. Simulation results prove the high accuracy and efficiency of this model-free feedback control scheme.
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