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第三十三届中国控制会议

作者： LI Jing WANG Junzheng Mao Jiali Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781479947249

Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can’t be described by simple gray information completely. In order to achieve automatic color moving object detection, the method based on automatic color clustering is especially proposed. Because the difference between adjacent pixels in an image is very small, the initial cluster center can be moved in the maximum distance. The proposed method can reduce the number of iterations and quicken convergence speed, meanwhile determine the number of color cluster and the location of the color object automatically. The proposed algorithm is validated in the actual system, experimental results show that the proposed method can automatically achieve color clustering for color image, while detect color objects.

关键词： Color clustering Color object Moving object detection

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Building GIS for Unmanned Ground Vehicles in the Urban Traffic Environment 33

Building GIS for Unmanned Ground Vehicles in the Urban Traff...

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第三十三届中国控制会议

作者： WANG Xinping WANG Meiling ZHANG Yi School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

ISBN: (纸本)9789881563842

As an important research field of intelligent Transport System(ITS),Unmanned Ground Vehicles(UGV)can lessen traffic accidents and relieve traffic congestion by high intelligence,thereby improving the efficiency of the entire *** and more complex urban traffic environment forces UGV to perceive a lot of environmental information,and the Geographic Information System(GIS)has strong capabilities of storage and management for geographic ***,a new method for constructing GIS database is proposed in this paper,which combines the characteristics of urban traffic and needs for perceiving the environment of UGV,to assist UGV in moving in the urban traffic environment ***,Google Earth is used to create the city ***,an urban road network model is proposed and the GIS database of urban traffic environment is constructed based on the ***,the GIS database is used to achieve the least-time route based on improved Dijkstra ***,the GIS database can provide the attributive information of roads in the real vehicle experiment,which guides UGV to perceive the environment *** have shown that the proposed GIS database performs well in assisting UGV to move autonomously in the urban traffic environment.

关键词： GIS,UGV,Urban traffic environment,Database,Road network model

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Improved ICCP Algorithm and Its Application in Gravity Matching Aided Inertial Navigation System 33

Improved ICCP Algorithm and Its Application in Gravity Match...

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第三十三届中国控制会议

作者： LIU Meiqi WANG Bo DENG Zhihong FU Mengyin School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology

ISBN: (纸本)9789881563842

Considering two disadvantages in traditional gravity matching aided inertial navigation system,low matching accuracy and error accumulation,we propose an improved gravity matching algorithm and aided method for inertial navigation *** of using the sequence sampling,the single point sampling is applied to improve the structure of proposed algorithm,enhancing the matching speed and *** the aided navigation system method,we use combination of Sage-Husa adaptive filter and strong-tracked Kalman filter to make further optimal estimation of the matching *** results show the effectiveness of the real-time ICCP algorithm and the combined filter *** to the traditional methods,proposed method provides higher matching and navigation accuracy.

关键词： gravity aided navigation,single-point sampling,combined filter

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Research on Standardized Development Method of Scenario for Combat Information Simulation System 33

Research on Standardized Development Method of Scenario for ...

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第三十三届中国控制会议

作者： SUN Zhen DING Shuxin School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education

ISBN: (纸本)9781479947249

Analysis and design of simulation scenario, design and application of scenario system are problems needed to be solved in the development and performance verification of simulation system. Consequently, a standardized development method for developing scenario based on a kind of combat information simulation system is proposed in this paper. Firstly, according to the requirements for generation of scenario which are decided by simulation system, the combining of military conceptual model and the entity oriented modeling method(EATI method) is used to build scenario structure model accurately and without distortion. Secondly, description of content and realizing form for scenario are constrained and standardized by extensible markup language(XML). Finally, a visualized and flexible scenario system model is built based on former theory analysis, which is independent of simulation system. This paper not only solves the problem existed in scenario and scenario system, but also implements rapid development of scenario, which provides important theory guiding meaning.

关键词： Scenario,Military Conceptual Model,EATI Method,XML Schema,Combat Information Simulation System

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Guidance law of multiple missiles engaged in cooperative salvo attack 10

Guidance law of multiple missiles engaged in cooperative sal...

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Joint International Conference of the 10th China-Japan International Workshop on Information Technology and control Applications and the 6th International Symposium on Computational Intelligence and Industrial Applications, ITCA and ISCIIA 2014

作者： Zeng, Jie Dou, Lihua Xin, Bin School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

In this article, a guidance problem for cooperative salvo attack of multiple missiles against a single stationary target is investigated. The proposed guidance law combines the well-known PNG law and cooperative acceleration command, which is based on the feedback of state error between the current missile and the mean value of participant missiles. The state variable in this paper is used as the approximate calculation of time-to-go. The cooperative acceleration command is designed to adjust the flight path and impact time, which leads the multi-missiles to hit the common target simultaneously. During the engagement, the velocities of missiles are not changed and presetting impact time is not needed. Simulation results show the effectiveness of the proposed guidance law.

关键词： Electronic guidance systems

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Multirate Multisensor Data Fusion Algorithm for State Estimation with Cross-Correlated Noises

Multirate Multisensor Data Fusion Algorithm for State Estima...

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7th International Conference on intelligent systems and Knowledge Engineering, ISKE 2012

作者： Liu, Yulei Yan, Liping Xiao, Bo Xia, Yuanqing Fu, Mengyin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 Beijing China

This paper is concerned with the optimal state estimation problem under linear dynamic systems when the sampling rates of different sensors are different. The noises of different sensors are cross-correlated and coupled with the system noise of the previous step. By use of the projection theory and induction hypothesis repeatedly, a sequential fusion estimation algorithm is derived. The algorithm is proven to be optimal in the sense of Linear Minimum Mean Square Error(LMMSE). Finally, a numerical example is presented to illustrate the effectiveness of the proposed algorithm. © Springer-Verlag Berlin Heidelberg 2014.

关键词： State estimation

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Unknown environment 2-D map building system for coal mine detect robot

Unknown environment 2-D map building system for coal mine de...

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International Conference on Information and automation (ICIA)

作者： Haojian Lu Junyao Gao Jianguo Zhu Zhe Xu Haoxiang Cao Jingchao Zhao Fangzhou Zhao Xin Li Yi Liu Xuanyang Shi Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Coal mine is a very dangerous field because various fatal factors menace people especially when coal mine explosion happens. For the reason that rescuers have to know the mine tunnel actual situation and at the same time, it is very dangerous for rescuers to go into mine tunnel because of the unknown environment, a kind of coal mine detect robot and an unknown environment 2-D map building system are introduced. This paper introduces a coal mine detect robot which is a kind of tracked robot that is suitable for running in explosion environment. In order to solve the problem of detecting an unknown environment, we introduce a 2-D map building system based on linear template clustering algorithm via laser radar. Finally, the experiment shows that this coal mine detect robot and the 2-D map building system are reliable and practical.

关键词： Coal mining Laser radar Robot sensing systems Robot kinematics Buildings

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EXPONENTIAL STABILITY OF LINEAR DISTRIBUTED PARAMETER SWITCHED systems WITH TIME-DELAY

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Journal of systems Science & complexity 2014年第2期27卷 263-275页

作者： BAO Leping FEI Shumin YU Lei The School of Automation and Key Laboratory of Measurement and Control of Complex Systems of Engineer-ing Southeast University The School of Mechanical and Electric Engineering Soochow University

In this paper, the exponential stability analysis for ODE switched systems with time delay is extended to distributed parameter switched systems(DPSS) in Hilbert space. For a given family of exponential stable subsystems, this paper focuses on finding conditions to guarantee the overall DPSS' exponential stability. Based on semigroup theory, by applying piecewise Lyapunov-Krasovskii functionals method incorporated average dwell time approach, sufficient conditions for exponential stability are derived. These conditions are given in the form of linear operator inequalities(LOIs)where the decision variables are operators in Hilbert space, and the stability properties depend on switching rule. Being applied to heat switched propagation equations, these LOIs are reduced to standard Linear Matrix Inequalities(LMIs). Finally, a numerical example is given to illustrate the effectiveness of the proposed result.

关键词： Exponential stability LMIs PDEs on abstract space switched systems.

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A novel GIS platform for UGV application in the unknown environment

A novel GIS platform for UGV application in the unknown envi...

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International Conference on Geoinformatics

作者： Qiangrong Yang Meiling Wang Mei-po Kwan Yi Yang Key Laboratory of Intelligent Control and Decision of Complex System Beijing China School of Automation Beijing institute of Technology Beijing China Department of Geography and Geographic Information Science University of Illinois at Urbana Champaign Champaign IL USA

ISBN: (纸本)9781467376648

Recently, the UGV (Unmanned Ground Vehicle) receives more and more attention from the public with the application in deep space exploration, national defense, and riot relief. Moreover, how to describe the driving environment of UGV with the sensor data objectively and share these data with other UGV efficiently becomes the focus of the research of the UGV. To solve the above problems, a novel GIS platform for UGV application in the unknown environment is proposed in this paper based on the features of UGV. First, the GIS database is redesigned and the properties such as road width, lane number, lane info, and if_traffic are proposed. The data structure of the database is redesigned to fit the need of UGV to describe the environment simply and explicitly. Then a two-line road model is proposed to model the feature of the road network clearly. This model can meet the driving need of UGV and represent the traffic rules of the urban environment. Moreover, the turning path in the intersection is designed to be an arc instead of a right angle path considering the dynamic features of UGV. Finally a cost map for navigating the UGV locally is generated with the road model and the environment information from the sensors. The GIS platform designed in this paper proves to be able to offer guidance and help to UGV for driving through the unknown environment wisely and quickly without human intervention. And it shows promising application of sharing data with other UGV efficiently by using cost map instead of the original sensor data.

关键词： Navigation Vehicles Robots

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IEEE International Conference on Mechatronics and automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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