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检索条件"机构=School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision"

共 787 条记录，以下是351-360 订阅

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Tightly-coupled Lidar-GNSS-Inertial Fusion Odometry and Mapping

Tightly-coupled Lidar-GNSS-Inertial Fusion Odometry and Mapp...

引用

第43届中国控制会议

作者： Shuwei Yu Jing Li Tianwei Niu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper proposes a tightly-coupled lidar-GNSS-inertial fusion system that achieves accurate state estimation and mapping for robot *** system effectively fuses lidar points,GNSS measurements,and IMU data using the iterated error state Kalman filter algorithm to obtain precise,drift-free,and real-time *** optimize computational efficiency,an incremental tree structure,ikdtree,is employed for managing a local map,and different Kalman gain formulas are utilized to process GNSS and lidar point observations separately to lower the computation ***,a factor graph is introduced to optimize the pose *** selectively introducing keyframes based on the odometry estimation,the graph incorporates odometry,GNSS measurements,and loop closure constraints to optimize all keyframe poses,resulting in a precise trajectory and global ***,extensive experiments are conducted using the KITTI dataset and several real-world scenarios to validate the proposed *** experimental results demonstrate that our method achieves precise localization and mapping across diverse environments.

关键词： state estimation Mapping Sensor fusion Robot navigation

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Peak and valley time-of-use price optimization strategy with distributed power supply 8

Peak and valley time-of-use price optimization strategy with...

引用

8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Applications, ISCIIA and ITCA 2018

作者： Hu, Bo Zhang, Yu Han, Xin-Yang Jiao, Yu-Qiao Ding, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China State Grid Energy Research Institute Co. LTD. Beijing102200 China

This paper proposes a peak-to-valley time-based electricity price optimization method based on NSGA-II with distributed power supply. First, the curve-fitting method is used to obtain the comprehensive electricity price response curve of users in the whole society. Secondly, based on the use of time-sharing electricity price, the peak-to-valley time-sharing optimization model is established. Then, based on the NSGA-II optimization method, the optimal model is solved, and the optimal electricity price is obtained at different time periods to change the peak-to-valley load and the valley load. Finally, the simulation results verify the effectiveness of the proposed method. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and control Application.

关键词： Genetic algorithms

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A Real-Time Visual-Inertial Monocular Odometry by Fusing Point and Line Features

A Real-Time Visual-Inertial Monocular Odometry by Fusing Poi...

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第40届中国控制会议

作者： Chengwei Li Liping Yan Yuanqing Xia Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

In this paper, a monocular visual-inertial odometry that utilize both point and line features is deduced. Compared with point features, line features provide more geometric information of the environment, which are more reliable in textureless scenes. However, extracting line segment features from the image are very time consuming, which will affect the real-time performance of the system. To deal with this problem, EDLines line segment detector is introduced to replace the LSD *** properties of lines are utilized to reject the mismatching of line segment feature. Pl ¨ucker coordinates and orthonormal representation of lines are used to represent 3 D lines. Afterwards, we optimize the state by minimizing a cost function consists of pre-integrated IMU residuals and visual feature re-projection residuals in a sliding window optimization framework. The proposed odometry was tested on the public datasets. The results demonstrate that the presented system can operate in real time with high accuracy.

关键词： visual-inertial odometry(VIO) point and line feature visual simultaneous localization and mapping(SLAM)

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Data Fusion with Packet Loss

Data Fusion with Packet Loss

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第三十三届中国控制会议

作者： Xiaolei Bian Yuanqing Xia Liping Yan Mengyin Fu School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479947249

This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet loss process introduced by each wireless channel is modeled by an independent and identically distributed(i.i.d.) Bernoulli process. The estimation strategy designed in this paper is based on Covariance Intersection fusion of local state estimates of the observable subsystem of each sensor. The sufficient conditions, imposing constraint on the packet success probability of each channel, are established by taking into account each observable subsystem structure to guarantee the expectation of the trace of estimation error covariance matrices is exponentially bounded, and the upper bound is given. Simulation examples are provided to demonstrate the effectiveness of the results.

关键词： Data Fusion,Covariance Intersection,Kalman Filtering,Packet loss

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SH–STF: a Novel Adaptive Filter and its Application in SINS/GPS/DVS Integrated Navigation

SH–STF: a Novel Adaptive Filter and its Application in SINS...

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第三十四届中国控制会议

作者： Liping Yan Yuanqing Xia Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

This paper is concerned with adaptive filter and its application in SINS/GPS/DVS integrated navigation. A novel adaptive filter, namely, SH–STF, is presented by combining the Sage–Husa(SH) adaptive filter with the strong tracking filter(STF). For multirate sampling dynamic system and in consideration of observations randomly missing, SH–STF is applied to data fusion and SINS/GPS/DVS integrated navigation. Simulation results show the feasibility and effectiveness of the presented algorithm.

关键词： integrated navigation,Sage–Husa adaptive filter,strong tracking filter,data fusion

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Formation control and obstacles avoidance for multi-agent systems based on position estimation

Formation control and obstacles avoidance for multi-agent sy...

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第三十三届中国控制会议

作者： Jing Chen Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781479947249

Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning *** control input is added into the derived control strategy,with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position,it can also realize obstacle avoidance for agents between themselves.

关键词： Formation control,Second-order system,Optimal control,Obstacle avoidance

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TDMA based IEEE 802.15.4 for Low Latency Deterministic Networked control systems

TDMA based IEEE 802.15.4 for Low Latency Deterministic Netwo...

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第27届中国控制与决策会议

作者： Mashood Anwar Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

ISBN: (纸本)9781479970186

In this paper,we propose a time division multiple access(TDMA) based protocol that works on slightly modified IEEE 802.15.4 network in star topology for low latency deterministic networked control *** end device in network transmits its data frame after certain time delay in response to periodic request from network *** time delay is optimized for channel bandwidth utilization and reliable data frame *** this TDMA based protocol eliminates the risk of frame collisions to great extent,MAC sub-layer modifications reduces the non-determinism of the network and increases its bandwidth *** were conducted to evaluate the suggested *** upon these experiments results,the proposed protocol is a feasible solution for control systems with real time constraints.

关键词： IEEE 802154 Networked control system Low latency deterministic networks(LLDN) Medium access control(MAC) Real time systems TDMA

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The Distributed system of Smart Wearable Energy Harvesting Based on Human Body

The Distributed System of Smart Wearable Energy Harvesting B...

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第37届中国控制会议

作者： Yeyun Cai Fang Deng Jiachen Zhao Huangbin Qiu Xinyu Fan Zelang Liang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Wearable devices have appeared in every aspect of our lives, from small items such as wristbands and eyeglasses to finished garments as shoes and clothing. With the promoting of scientific development, intelligent technology is also combined with wearable devices to form a unique network that depends on the human body. The increasing demand for equipment has made smart wearable devices a research hotspot. Such equipment is usually small, light-weight, good flexibility, and can be adapted to the complex use of the environment. But these advantages just become the limitations of power supply for ***, the fixed charger can not be used to charge the device during use, and the volume of such a special battery can not be increased in order to increase the storage capacity. Therefore, how to solve the problem of power suppling for the wearable device effectively is a big challenge. Based on this, the paper proposes a distributed system of smart wearable energy harvesting, which considers the human body as the core and uses a variety of ubiquitous energy sources such as solar energy, thermal energy and mechanical energy. The system makes a combination of wearable and distributed design to form a wireless body area network,and provides a stable power output for smart wearable devices.

关键词： wearable energy harvesting distributed system human body

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Optimal Distributed Fusion for state Estimation in Multirate Wireless Sensor Networks

Optimal Distributed Fusion for State Estimation in Multirate...

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第三十四届中国控制会议

作者： Lu Jiang Liping Yan Yuanqing Xia Mengyin Fu Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781467374439

This paper is concerned with the distributed fusion estimation problem for linear system observed by multirate sensors in the environment of wireless sensor networks(WSNs). Rates of the sampling, estimation, transmission in the WSNs are different. The distributed fusion estimation is composed of two stages. At the first stage, every sensor in the WSNs collects measurements of its own to generate a local estimation, then the local estimations from the neighboring sensors and the neighbour's neighbor sensors are further collected to form the fusion estimation at the second stage. The main result is that a distributed fusion estimation algorithm is presented which is simple and low energy consumption. The performance, namely, the effectiveness and the stability of the algorithm under multiple sensors, is analyzed. A numerical example is given to show the feasibility and effectiveness of the presented algorithm.

关键词： state estimation,distributed fusion,multirate multisensor,Kalman filter,wireless sensor networks

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Probabilistic Plan Recognition Under Temporal Logic Tasks

Probabilistic Plan Recognition Under Temporal Logic Tasks

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第三十八届中国控制会议

作者： Wentao Yu Hao Fang Daiying Tian School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

In this paper, we consider the plan recognition problem in the real-time strategy game. A probabilistic plan recognition algorithm is proposed to predict the future goals and identify the temporal logic tasks of the non-cooperative agent based on the observations. In order to model the temporal logic tasks, the plan library is composed of the Finite Transition system and Nondeterministic B ¨uchi automation. Specially, we provide a unified framework to combine the plan recognition and the planning, and propose the probability calculation algorithm to calculate the posterior probability distribution of the goals and tasks. Finally, we verify the effectiveness of the proposed algorithm by the compared simulations.

关键词： Probabilistic Plan Recognition Linear Temporal Logic Büchi automation Goal Prediction

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