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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

引用

IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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Influence of inclining angle of a slope to optimal locomotion curves of a snake-like robot

Influence of inclining angle of a slope to optimal locomotio...

引用

IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Shugen Ma N. Tadokoro K. Inoue Bin Li Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

ISBN: (纸本)078037925X

Snakes perform many kinds of movement adapted to environments. Utilizing the snake as a model, we have developed a 2-dimensional snake-like robot that emulates a snakes' function. To make our robot move optimally while adapting to the slope environment, in this study we discussed the influence of the inclining angle of the slope to the creeping locomotion of the robot and derived its optimal creeping locomotion curves that adapted to the given slopes.

关键词： Robots robotics and automation Shape systems engineering and theory Content addressable storage Ice Motion analysis Computational modeling Analytical models

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Intelligent autonomy for remote characterization of hazardous environments

Intelligent autonomy for remote characterization of hazardou...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： D.J. Bruemmer M.O. Anderson J.L. Marble D.D. Dudenhoeffer D.A. Few M.D. Mckay Human Factors Robotics and Remote Systems Group Idaho National Engineering and Environmental Laboratory Idaho Falls ID USA

Remote characterization of high radiation environments is a pressing application area where robots have the potential to provide benefits in terms of time, cost, safety and quality of data. However, the ability to design robots that can be used effectively has proven to be no easy task. In 2001, the Idaho National engineering and Environmental laboratory (INEEL) successfully deployed a teleoperated robotic system coupled with a Gamma Locating and Isotopic Identification Device (RGL&IID) to characterize an area that had been closed to human entry for many years. This paper examines the limitations to the control strategy used and discusses how current efforts at the INEEL are developing intelligent controls that can actively mediate between the human and the robotic elements of the system. The resulting, mixed-initiative control architecture allows the user to shift the level of robot initiative throughout the task as needed. This system offers the opportunity for the human and robot to become a team where each can support the capabilities and limitations of the other.

关键词： Human robot interaction Intelligent robots Costs Instruments Robot sensing systems Human factors Pressing Safety Intelligent control Chemical elements

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Ground condition sensing of a snake-like robot

Ground condition sensing of a snake-like robot

引用

IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Yang Lu Shugen Ma Bin Li Li Chen Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences China Department of Systems Engineering Ibaraki University Japan

ISBN: (纸本)078037925X

Snake-like robot has its unique locomotion mode and can change its locomotion form while the ground condition changed, to achieve the best velocity and efficiency. We first analyze the snake-like robot's locomotion on different terrains simply, then point out the significance to sense the ground status that is the base of choosing different locomotion form on different ground. Last we use force sensors to distinguish the different ground status.

关键词： Robot sensing systems Propulsion Friction Mobile robots Orbital robotics Prototypes Legged locomotion Kinematics Wheels Crawlers

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Real world implementation of fuzzy anti-swing control for behavior-based intelligent crane system

Real world implementation of fuzzy anti-swing control for be...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Jiaming Wang Hao Li F. Karray O. Basir PAMIR Pattem Analysis Machine Intelligence and Robotics Laboratory Systems Design Engineering University of Waterloo Waterloo ONT Canada

There exist several industrial applications for large crane systems. Most of them experience serious problems with load swing. This paper presents a fuzzy based control scheme to minimize load swing for crane systems while maintaining continuous payload transportation. The control system of the crane is built using behavior-based approaches. In the control system developed, each module generates behaviors, and improvement in the performance of the system proceeds by adding new modules to the system. In order to develop the anti-swing module, fuzzy logic controller is applied using information extracted from potentiometers. The fuzzy controller provides a mechanism for dealing with imprecise sensor data. The anti-swing behaviors are successfully implemented by formulating a set of fuzzy rules. The performance of the developed system is illustrated by both simulations and experiments. The simulation and experimental results of the system show that the system remains stable under several operating situations.

关键词： Fuzzy control Fuzzy systems Control systems Intelligent systems Intelligent control Cranes Electrical equipment industry Payloads Transportation Fuzzy logic

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Textual message read by a mobile robot

Textual message read by a mobile robot

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Letourneau F. Michaud J.-M. Valin C. Proulx Department of Electrical Engineering and Computer Engineering Universite de Sherbrooke LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Sherbrooke Quebec CANADA

Giving the ability to read characters and symbols is highly desirable for increased autonomy of mobile robots operating in the real world. The idea is fairly simple: give a robot the ability to acquire an image of a message to read, extract the symbols and recognize them. Image character recognition research has been going on for decades now, with good results. But compared to conventional character recognition systems, the challenge with a mobile robot is to find a textual message to capture in the world and to get a good view of the message, knowing that the viewpoint of the robot depends on its position in relation to the message, which cannot be pre-specified. In this paper we present our approach making it possible for an autonomous mobile robot to read messages. We outline the constraints under which the approach works, and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a pan-tilt-zoom camera.

关键词： Mobile robots Robot vision systems Cameras Intelligent robots Character recognition Image recognition Navigation Laboratories Mobile computing Intelligent systems

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Optimization of a Neural Dynamics Based Controller for a Nonholonomic Mobile Robot Using Genetic Algorithms

Optimization of a Neural Dynamics Based Controller for a Non...

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International Conference on Control and Automation (ICCA)

作者： Hao Li S.X. Yang F. Karray Pattern Analysis and Machine Intelligence (PAMI) Lab Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a neural dynamics based controller for a nonholonomic mobile robot is proposed. The turn angle of the robot in the proposed model is characterized by a biologically inspired shunting equation derived from Hodgkin and Huxley’s membrane equation. This model is capable of generating smooth steering velocity command that drives the robot to track desired paths. Some parameters in the proposed neural dynamics based controller need to be selected. A genetic algorithm is designed to optimize the model parameters that can guarantee the convergence of tracking error of the mobile robot. Simulation studies of a fourdegree-of-freedom mobile robot are conducted, which demonstrate the effectiveness of the proposed motion controller.

关键词： Mobile robots Genetic algorithms Biological system modeling Equations Biomembranes Algorithm design and analysis Design optimization Convergence Motion control

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Analysis of traveling wave locomotion of snake robot

Analysis of traveling wave locomotion of snake robot

引用

IEEE International Conference on robotics, Intelligent systems and Signal Processing

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

ISBN: (纸本)078037925X

The mechanism of traveling wave locomotion of a snake robot was analyzed in the paper. Its kinematics model was founded and a modified control strategy was conducted in a reconfigurable snake robot. The results shows that in one period the locomotion can be divided into four phases according to the number of joints contacting with the supporting plane, and the resultant force of the friction forces on contacting joints generates locomotion. The modified control method can form smoother body curve and generate the accelerated or decelerated locomotion. Experimental results show that using traveling wave locomotion the robot is able to go forward and backward, and turn around, especially can move in a narrow site and some partial unstructured environments. The maximum linear velocity that can obtain is 0.04 m/s, the slope of the inclined plane that can be climbed is 20/spl deg/ on a carpet, the maximum wideness of gap that can be crossed is 0.14 m, and the minimum diameter of the pipe that can be gone through is 0.06 m.

关键词： Friction Mobile robots Wheels Shape systems engineering and theory Acceleration Robustness Propulsion Tail

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Studying multi-operational production systems with modular hybrid Petri Nets

Studying multi-operational production systems with modular h...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G.J. Tsinarakis K.P. Valavanis N.C. Tsourveloudis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece Department of CSEE University of south Florida Tampa FL USA

Modular hybrid timed Petri Nets are used to model and analyze behavior of random topology multi-operational production systems. Each such system is decomposed into 3 fundamental modules, followed by derivation of their corresponding modular HPN models. The overall system model is obtained via synthesis of the individual modules, satisfying system constraints (routes, production rates, machine expected up- down- or idle- time and priorities). For any topology multi-operational production system, overall HTPN model nodes are calculated, followed by derivation of model invariants. Results show applicability of the proposed methodology and justify its modeling power and generality.

关键词： Production systems Petri nets Power system modeling Topology Intelligent robots Mathematical model Electronic mail Hybrid intelligent systems Production engineering engineering management

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