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IEEE International Conference on robotics and Biomimetics

作者： Yijiang Li Yaonan Wang Yang Mo Qing Zhu Zhiqiang Miao Yuefan Luo College of Electrical and Information Engineering National Engineering Research Center for Robot Visual Perception and Control Hunan University Changsha China

ISBN: (纸本)9781665481106

Interactive control is very important for unmanned swarm systems to understand human intentions and execute tasks. However, traditional interactive control usually uses a keyboard, mouse, or remote controller, which is not intuitive and convenient enough. This paper proposes a natural interaction control method based on gesture recognition for unmanned swarm systems. First, considering the real-time requirement of interactive control, the YOLOv5 algorithm is improved by replacing the original GIoU loss function with the DIoU loss function to improve the performance of the algorithm. Then, according to the interactive control requirements of unmanned swarm systems, the corresponding gesture database is established. Finally, the AirSim platform is used to build the simulation system, and the interactive control based on gesture recognition is tested and verified. The experimental results show that the recognition accuracy of the control intention is 97% and the response time is approximately 0.027 s, which can realize the interactive control of unmanned swarm systems.

关键词： Location awareness Training Databases Atmospheric modeling Gesture recognition control systems Real-time systems

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A Mobile robotic System for Data center Thermal Environment Measurement and Reconstruction

A Mobile Robotic System for Data Center Thermal Environment ...

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Chinese Automation Congress (CAC)

作者： Ronghan Qin Qiu Fang Yaonan Wang National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha China

ISBN: (纸本)9781665426480

Data centers are the key infrastructure for information services. The monitoring of the thermal environment of the data center computer room is an important work for its safe operation. This paper proposed a mobile robotic system for data center thermal environment measurement, which can freely sample the temperature and humidity data around the facilities within the computer room. On one hand, measuring the temperature and humidity in a mobile way can obtain far more environmental data than fixed-point sensors. On the other hand, the mobile robot can be used instead of manual inspection. In addition, a temperature field reconstruction method is provided based on the sampled temperature data. Theoretically, the temperature of locations that have not been measured can be evaluated by interpolating sample temperature around them. The reconstruction of the temperature field can present the variation of the temperature more clearly and help find the hot spots or locations with low cooling efficiency during the operation. Lastly, experiments are carried out to study the measurement error of the mobile robotic system and an error correction method is proposed. After that, the relationship between the temperature reconstruction error and the layout of sampling points is investigated.

关键词： Temperature measurement Temperature sensors Temperature distribution Data centers Interpolation robot kinematics Reconstruction algorithms

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Posture-based Leader-follower Formation for Multiple Mobile robot Systems Using Data-based Adaptive Iterative Learning control

Posture-based Leader-follower Formation for Multiple Mobile ...

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Chinese Automation Congress (CAC)

作者： Zhuolei Chaochen Yaonan Wang Haoran Tan Jiaming Zhou Qiong Lin College of Electrical and Information Engineering Hunan University National Engineering Research Center for Robot Visual Perception and Control Changsha China

Multiple mobile robot systems (MMRSs) have great potential in various fields and their reliable application depends on accurate formation among robots. Focusing on the formation problem of MMRSs, a posture-based adaptive iterative learning control scheme (PB-AILC) is proposed in this paper. Firstly, the leader-follower formation model is built. Then PB-AILC scheme is introduced to optimize the control linear and angular velocity of follower robots at each iteration based on the robots’ global posture only, guaranteeing that followers can steadily track their leader with prescribed relative distance and orientation. Meanwhile, we analyze its feasibility mathematically. Finally, numerical simulations illustrate the validity of the PB-AILC scheme and we compare PB-AILC with an iterative learning control (ILC) method to demonstrate its superiority.

关键词： Adaptation models Adaptive systems Uncertainty Process control Numerical simulation Real-time systems Numerical models

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Safety-Critical control for Underwater Vehicles with Model Uncertainties and External Disturbances

Safety-Critical Control for Underwater Vehicles with Model U...

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

作者： Yizong Chen Zhiqiang Miao Weiwei Zhan Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Safety is a crucial issue for underwater vehicles, which may be affected by narrow terrain and multiple obstacles. In addition, the model of the underwater vehicles are uncertain and susceptible to external disturbances such as water flow. This article utilizes model predictive control (MPC) and incremental nonlinear dynamic inversion (INDI) to design a robust control scheme for underwater vehicles. The position loop controller employs MPC to generate the required speed commands for the velocity loop controller. The velocity loop is designed with an INDI control scheme incorporating a second-order low-pass filter, effectively mitigating model uncertainties and external disturbances on the vehicles. Based on exponential control barrier functions (ECBFs), the input constraint and obstacle avoidance problems of underwater vehicles are solved. The results indicate that the proposed control scheme not only exhibits robustness but also effectively ensures safe obstacle avoidance.

关键词： Uncertainty Three-dimensional displays Trajectory tracking Numerical simulation Robustness Safety Numerical models Collision avoidance Vehicle dynamics Underwater vehicles

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P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertainty

arXiv

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arXiv 2024年

作者： Zhang, Yufan Yang, Kailun Wang, Ze Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410012 China The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

This paper presents P2U-SLAM, a visual Simultaneous Localization And Mapping (SLAM) system with a wide Field of View (FoV) camera, which utilizes pose uncertainty and point uncertainty. While the wide FoV enables considerable repetitive observations of historical map points for matching cross-view features, the data properties of the historical map points and the poses of historical keyframes have changed during the optimization process. The neglect of data property changes triggers the absence of a partial information matrix in optimization and leads to the risk of long-term positioning performance degradation. The purpose of our research is to reduce the risk of the wide field of view visual input to the SLAM system. Based on the conditional probability model, this work reveals the definite impact of the above data properties changes on the optimization process, concretizes it as point uncertainty and pose uncertainty, and gives a specific mathematical form. P2U-SLAM respectively embeds point uncertainty and pose uncertainty into the tracking module and local mapping, and updates these uncertainties after each optimization operation including local mapping, map merging, and loop closing. We present an exhaustive evaluation in 27 sequences from two popular public datasets with wide-FoV visual input. P2U-SLAM shows excellent performance compared with other state-of-the-art methods. The source code will be made publicly available at https://***/BambValley/P2U-SLAM. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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An Intelligent Route Recommendation Method for Smart Internet-Connected Electric Vehicles Under the Coupling of Traffic and Electricity

An Intelligent Route Recommendation Method for Smart Interne...

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Chinese control Conference (CCC)

作者： Jinhuan Xie Dongqi Liu Zhenwu Yang School of Electrical and Information Engineering Changsha University of Science and Technology hunan China National Engineering Research Center for Robot Visual Perception and Control Technology hunan China

Aiming at the charging and navigation strategy of electric vehicles in the road-electricity coupling scenario, this paper proposes a hybrid planning travel scheme based on the pre-charging and charging warning model based on the road traffic congestion predicted by the big data of the Internet of Vehicles. This model integrally balances the interests of users and power grid in the coupled road-electric network, and solves the optimal path scheme under different travel scenarios based on collaborative filtering algorithm and user feedback, considering the influence of vehicle departure time and remaining power in short time scale. It is experimentally demonstrated that the proposed route hybrid recommendation model has better planning effect compared with the single travel model.

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A fast and robust visual detection method with binary template matching for glass bottle body

A fast and robust visual detection method with binary templa...

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第三十八届中国控制会议

作者： Xianen Zhou Yaonan Wang Qing Zhu The College of Electrical and Information Engineering Hunan University The National Engineering Laboratory for Robot Visual Perception and Control Technology

As multiple glass bottle bodies appear in the same one image from a view, the high precision and speed localization of the bottle body is difficult for the traditional visual detection methods. To overcome the problem, the imaging system is first briefly presented. And a new visual detection framework, named BTMfast, for glass bottle body with binary template matching is proposed. First, the input image is down-sampled to reduce the computational complexity. The subimages containing body region are obtained according to the position priors. Then, the neck or body of a bottle is taken as the template, and the template image and each sumimage is segmented with OTSU segmentation algorithm. Thirdly, the central line of the body in the original image can be obtained by the binary template matching. Finally, the top boundary of the bottle mouth is enhanced by a filtering operation with a new kernel. And the mouth position is obtained by segmenting the filtered image and column scanning. Two datasets are created for evaluating the performance of the proposed method. Compared with many conventional approaches on the two datasets, our method can achieve the optimal result. The localization error is about 1.5, the consumed time is about 4.3 ms.

关键词： visual detection template matching localization glass bottle body

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Robust Nonlinear Observer-based Adaptive visual Servo control for a Multirotor

Robust Nonlinear Observer-based Adaptive Visual Servo Contro...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Long, Yu Zhong, Hang Qian, Zhenyu Liu, Min Zhang, Hui Jiang, Yiming Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China National Engineering Research Center for Robot Visual Perception and Control Changsha China Hunan University College of Robotics Changsha410082 China China China Highway Engineering ConsultingCorporation DATA CO. LTD Beijing100089 China

ISBN: (纸本)9798350372601

In this article, an robust nonlinear observer-based visual servo adaptive control strategy is investigated for a multirotor for stable tracking of targets. This article uses the Newton Euler equation to model the dynamics of the multirotor and describes the visual servo system model. In order to avoid being affected by various disturbances, this article designs disturbance observer and velocity observer to improve the robustness of the system. Based on nonlinear observers, this article designs a layered controller that includes a visual outer loop controller and an adaptive sliding mode geometric inner loop controller. To verify the feasibility of this algorithm, this article conducts simulation experiments using MATLAB and Simulink, and adds constant disturbances for verification. Both simulation experiments and experimental results in real environments show that the controller we designs has excellent stability and robustness. © 2024 IEEE.

关键词： Euler equations

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Unsupervised Deep Homography Estimation based on Transformer

Unsupervised Deep Homography Estimation based on Transformer

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Tianjian Jiang Qiu Fang Qing Zhu Yaonan Wang Zhen Zhou Lin Chen Jiaming Zhou Yuefan Luo Chengzhong Wu National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University Changsha Hunan China Jiangxi Communication Terminal Industry Technology Research Institute.

Homography estimation is a crucial problem in computer vision, which aims to provide an optimal transformation matrix for aligning images captured from different viewpoints. Current methods extract shallow features from image pairs and introduce learnable mask modules to improve homography estimation performance. However, they struggle to capture long-term dependencies between features and comprehend the global structures of image features. A deep unsupervised homography learning framework is proposed in this paper, consisting of a weight-sharing feature extraction network and a homography estimation network based on the Transformer model. The former extracts the local features of images, while the latter learns the correlation between them and understands the global features of images, enabling the algorithm to better estimate the homography of unaligned images. Experimental results demonstrate that the proposed method outperforms the advanced methods for estimating homography matrices in the CA-Unsupervised dataset.

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Task and Motion Planning for Manipulators Using Linear Temporal Logics

Task and Motion Planning for Manipulators Using Linear Tempo...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Tailai Liu Zhiqiang Miao Guangyu Qin Wenjie Wu Lin Li Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Changsha China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

This paper deals with the problem of combining task and motion planning for a manipulator system. We propose a linear temporal logic (LTL) approach which follows the traditional hierarchical planning process, including task planning and motion planning. Firstly, the feasible network topology graph is obtained from the high-level task planning module, and the planning algorithm of search is used to obtain the task sequence. Secondly, the coordination module receives the task sequence to extract the manipulator’s action sequence to make planning suggestions. Furthermore, a lower level planning module is used to receive the suggestions and motion planning is performed using sampled planning algorithms to generate and output the motion trajectory. Finally, we verified the feasibility of our method through simulations and physical experiments. Our method has smoother trajectories and is about 10% more efficient than the traditional method of setting way points.

关键词： Network topology robot kinematics Computational modeling Manipulators Real-time systems Planning Trajectory

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