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检索条件"机构=Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering"

共 171 条记录，以下是141-150 订阅

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control intelligent robots Nonlinear equations Control systems Distributed control

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays intelligent robots Robot localization Rough surfaces Surface roughness

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The segmented bus: A dynamically segmentable interprocessor communication network for intelligent mobile robot systems

The segmented bus: A dynamically segmentable interprocessor ...

引用

1992 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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The Segmented Bus: A Dynamically Segmentable Interprocessor Communication Network For intelligent Mobile Robot systems

The Segmented Bus: A Dynamically Segmentable Interprocessor ...

引用

IEEE International Workshop on intelligent Robots and systems (IROS)

作者： C.M. Aras Ren C. Luo D.S. Reeves Department of Electrical and Computer Engineering Robotics and Intelligent Systems Laboratory North Carolina State University Raleigh NC USA

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On dynamic motion planning problems

On dynamic motion planning problems

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.C. Luo T.-J. Pan Robotics and Intelligent Systems Laboratory Department of Elecnical and Computer Engineering North Carolina State University Raleigh NC USA

A novel method for solving the motion planning problem in the presence of moving obstacles is presented. Compared to previous approaches, the proposed method is more general in that obstacles are allowed to move with translation and rotation at nonlinear velocity. Using path/velocity decomposition, the method emphasizes the development of an efficient algorithm for collision detection between the robot and moving polygons. This algorithm is devised using transversability vector theory to determine the geometric relationships between any two convex polygons or convex components of concave polygons. The interference between the robot and the moving obstacles is detected and registered on the constraint map to represent time constraints on the robot's motion along the path. The constraint map is then used for velocity planning using a simple algorithm. The problem of a robot crossing the street is used as an example for computational analysis.< >

关键词： Motion planning Vehicle dynamics robotics and automation Orbital robotics intelligent robots Interference constraints Robot motion Mobile robots Path planning intelligent systems

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots intelligent robots computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Design and implementation of a multidegree of freedom intelligent robot hand

Design and implementation of a multidegree of freedom intell...

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Proceedings IROS '91:IEEE/RSJ International Workshop on intelligent Robots and systems '91

作者： R.C. Luo Min-Hsiung Lin C.K. Shih Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A parallel-jaw type multiple-d.o.f. robot hand is designed and implemented to manipulate workpieces within the hand by rotation and translation. An efficient manipulator control algorithm and part mating application is developed. A simulation result is also presented to show the changes of force during part insertion to verify the models developed.< >

关键词： intelligent robots Fingers Force control Force sensors Grippers DC motors Manipulators Fasteners Timing Parallel robots

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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An intelligent path planning system for robot navigation in an unknown environment

An intelligent path planning system for robot navigation in ...

引用

Mobile Robots IV 1989

作者： Luo, Ren C. Pan, Tai-Jee Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University RaleighNC27695-7911 United States

In this paper, a novel approach to solve the mobile robot path planning problem in an unknown environment is presented. Inherently, the obstacle information from robot perception is contaminated with uncertainties, and thus, the acquired obstacle knowledge for path planning needs to be updated dynamically. Therefore, the development of an adaptive path planning scheme capable of determining a desired path with uncertain, and incomplete obstacle knowledge is necessary. We use the concept of traversability vectors to analyze the spatial-relations between the robot and obstacles in the task environment. Then, these analyzed relations are used to determine the obstacles that must be bypassed by the robot, and the ways to bypass them. Dynamically changing obstacle knowledge can be accommodated by replanning the path at the time when a change is reported. The proposed scheme can work very efficiently since because of the elimination of an exhausted search process that is often required in previous approaches. We implement a computer program to simulated the proposed planning scheme. A graphical representation for robot motions guided by the planned paths is illustrated to show the feature of the presented work. © 1990 SPIE. All rights reserved.

关键词： Motion planning

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