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IEEE International Symposium on intelligent Control (ISIC)

作者： Tiemin Hu S.X. Yang Advanced Robotics & Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel torque controller is presented for nonholonomic mobile robots with obstacle avoidance. In the proposed controller, based on the artificial potential fields technique, an obstacle torque is introduced in the controller, which acts locally to push the robot away from the obstacles. The environment is initially assumed to be completely unknown, except the target location. Environment information is obtained from onboard robot sensors that have limited visibility range only. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. System stability and convergence are rigorously proved using a Lyapunov theory, subject to unmodeled disturbance and bounded unstructured dynamics. The real-time fine control of mobile robots is achieved through on-line learning of the neural network without any off-line learning procedures. A series of simulation results show that the proposed controller can be successfully applied to both static and dynamic environments, as well as a multi-robot system.

关键词： Torque control Mobile robots Vehicle dynamics Robot sensing systems Path planning intelligent robots Neural networks Nonlinear dynamical systems Kinematics intelligent systems

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REAL-TIME PATH PLANNING AND TRACKING CONTROL USING A NEURAL DYNAMICS BASED APPROACH

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IFAC Proceedings Volumes 2002年第1期35卷 103-108页

作者： Simon X. Yang Eric Hu Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada

Real-time collision-free path planning and tracking control of a nonholonomic mobile robot in a dynamic environment is investigated using a neural dynamics based approach. The real-time robot path is generated through a dynamic neural activity landscape of a topologically organized neural network that represents the changing environment. The dynamics of each neuron is characterized by an additive neural dynamics model. The real-time tracking velocities are generated by a novel non-time based controller, which is based on the conventional event based control technique and an additive model. The effectiveness and efficiency of this approach are demonstrated through simulation and comparison studies.

关键词： mobile robots path planning obstacle avoidance velocity control neural dynamics neural network

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A NEURAL COMPUTATION MODEL FOR REAL-TIME COLLISION-FREE ROBOT NAVIGATION

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IFAC Proceedings Volumes 2002年第1期35卷 323-328页

作者： Simon X. Yang Max Meng Hao Li Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ON N1G 2W1 Canada Advanced Robotics and Teleoperation (ART) Lab Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6G 2G7 Canada

A biologically inspired neural computation model is proposed for dynamic planning and tracking control of robots. The dynamic environment is represented by a neural activity landscape of a topologically organized neural network, where each neuron is characterized by a shunting equation. The collision-free path is generated in real-time through the activity landscape without any prior knowledge of the dynamic environment. The real-time tracking control of robots to follow the planned path is also designed using shunting equations. The effectiveness is demonstrated through case studies. Simulation in several computer-synthesized virtual environments further demonstrates the advantages of the proposed approach.

关键词： path planning obstacle avoidance velocity control neural dynamics neural network

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An efficient neural controller for a nonholonomic mobile robot

An efficient neural controller for a nonholonomic mobile rob...

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

作者： Tiemin Hu S.X. Yang ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering University of Guelph Guelph ONT Canada

In this paper, a novel neural network based controller is developed for real-time fine motion control of a nonholonomic mobile robot with completely unknown robot dynamics and under unmodeled disturbance. By taking advantage of the robot regressor dynamics that express the highly nonlinear robot dynamics in a linear form in terms of the robot dynamic parameters, the neural network consists of a single layer feedforward structure, and the learning algorithm is computationally efficient. Unlike previous works that use a typical backstepping velocity planner as the control input, a novel neural dynamics based velocity planner is used as input. The stability of the proposed control system and the convergence of tracking errors to zero are rigorously proved using the Lyapunov theory. The fine control of mobile robot is achieved through the online learning of the neural network without any off-line learning procedures. The effectiveness and efficiency of the proposed controller is demonstrated by simulation studies.

关键词： Mobile robots Neural networks Motion control Nonlinear dynamical systems Feedforward neural networks Computer networks Backstepping Velocity control Stability Control systems

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Tracking control of a mobile robot with kinematic and dynamic constraints

Tracking control of a mobile robot with kinematic and dynami...

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

作者： Heting Xu S.X. Yang ARIS (Advanced Robotics & Intelligent Systems) Lab School of Engineering University of Guelph Guelph ONT Canada

A path tracking control method with both kinematic and dynamic constraints is proposed for a nonholonomic mobile robot. By incorporating a biologically inspired shunting model into the conventional bang-bang control technique, the proposed tracking controller is capable of generating real-time acceleration commands that can produce smooth, continuous robot velocities, and drive the mobile robot to track the desired trajectories. In the controller design, the accelerations are bounded and the nonholonomic kinematic constraints are satisfied. The stability of the control system and the convergence of tracking errors to zero are proved using a Lyapunov stability theory. The effectiveness of the proposed tracking controller is demonstrated by simulation studies.

关键词： Mobile robots Kinematics Acceleration Biological system modeling Bang-bang control Velocity control Biological control systems Trajectory Stability Control systems

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Factorization method for multiple perspective views via iterative depth estimation

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systems and Computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Advances in Autonomous robotics 1

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丛书名： Lecture Notes in Computer Science

1000年

作者： Guido Herrmann Matthew Studley Martin Pearson Andrew Conn Chris Melhuish Mark Witkowski Jong-Hwan Kim Prahlad Vadakkepat

ISBN: (数字)9783642325274

ISBN: (纸本)9783642325267

This book constitutes the refereed proceedings of the 13th Conference on Towards Autonomous Robotic systems, TAROS 2012 and the 15th Robot World Congress, FIRA 2012, held as joint conference in Bristol, UK, in August 2012. The 36 revised full papers presented together with 25 extended abstracts were carefully reviewed and selected from 89 submissions. The papers cover various topics in the field of autonomous robotics.

关键词： Artificial Intelligence Image Processing and Computer Vision User Interfaces and Human Computer Interaction Data Mining and Knowledge Discovery

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How the CYBATHLON Competition Has Advanced Assistive Technologies

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Control, robotics, and Autonomous systems 1000年第1期6卷 447-476页

作者： Lukas Jaeger Roberto de Souza Baptista Chiara Basla Patricia Capsi-Morales Yong Kuk Kim Shuro Nakajima Cristina Piazza Michael Sommerhalder Luca Tonin Giacomo Valle Robert Riener Roland Sigrist 1CYBATHLON ETH Zurich Zurich Switzerland email: roland.sigrist@*** 2Laboratory of Robotics and Automation University of Brasilia Brasilia Brazil email: baptista@*** 3Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zurich Zurich Switzerland email: chiara.basla@hest.ethz.chmichael.sommerhalder@hest.ethz.chrobert.riener@hest.ethz.ch 4Department of Informatics Technical University of Munich Garching Germany email: patricia.capsi-morales@tum.decristina.piazza@tum.de 5Laboratory for Movement Biomechanics Institute for Biomechanics Department of Health Sciences and Technology ETH Zurich Zurich Switzerland email: yong.kim@hest.ethz.ch 6Faculty of Systems Engineering Wakayama University Wakayama Japan email: nakajima@wakayama-u.ac.jp 7Department of Information Engineering and Padua Neuroscience Center University of Padua Padua Italy email: luca.tonin@dei.unipd.it 8Neuroengineering Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zurich Zurich Switzerland email: giacomo.valle@hest.ethz.ch 9Balgrist University Hospital Zurich Switzerland

Approximately 1.1. billion people worldwide live with some form of disability, and assistive technology has the potential to increase their overall quality of life. However, the end users’ perspective and needs are often not sufficiently considered during the development of this technology, leading to frustration and nonuse of existing devices. Since its first competition in 2016, CYBATHLON has aimed to drive innovation in the field of assistive technology by motivating teams to involve end users more actively in the development process and to tailor novel devices to their actual daily-life needs. Competition tasks therefore represent unsolved daily-life challenges for people with disabilities and serve the purpose of benchmarking the latest developments from research laboratories and companies from around the world. This review describes each of the competition disciplines, their contributions to assistive technology, and remaining challenges in the user-centered development of this technology.

关键词： user-centered design assistive technology CYBATHLON inclusion people with disabilities daily-life challenge competition

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