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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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BIFURCATION control AND NONSMOOTH FEEDBACK

BIFURCATION CONTROL AND NONSMOOTH FEEDBACK

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第二十届中国控制会议

作者： Hua O.Wang Yiguang Hong Laboratory for Intelligent and Nonlinear Control(LINC)Department of Electrical and Computer Engineering Duke University DurhamNC 27708U.S.A and Center for Nonlinear and Complex Systems Dept.of Control Science and Engineering Huazhong University of Science and Technology Institute of Systems Sciences Chinese Academy of Sciences

In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p

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Integration of schema-based behaviors and variable-resolution cognitive maps for stable indoor navigation

Integration of schema-based behaviors and variable-resolutio...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Hye-Kyung Cho Young-Jo Cho Bum-Jae You School of Information & Computer Engineering Hansung University Seoul South Korea R & D Center I Controls Inc. Seoul South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

ISBN: (纸本)0780365763

Presents a situation-driven reconfigurable architecture for a schema-based robot controller which is operating in partially known indoor environments. Instead of the purely repulsive forces from the obstacles, we employ the linear combination of the repulsive and the detouring forces around the obstacle, so that the obstacles generate virtual forces pushing the robot toward the goal rather than just blocking it. By reconfiguring the detouring direction and the activation level of each schema based on the geometric and/or topological information provided by the variable resolution maps, the robot can navigate through the environments in very natural way. Simulation results show that our approach can remarkably improve the intrinsic defects of traditional potential field-bused schemas.

关键词： Navigation control systems Robot control Optimal control intelligent systems intelligent control intelligent robots Robust control State estimation Design methodology

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An improved ZVS partial series resonant DC/DC converter with low conduction losses

An improved ZVS partial series resonant DC/DC converter with...

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作者： Lee, Dong-Yun Kim, Eui-Sung Hyun, Dong-Seok Choy, Ick Dept. of Electrical Engineering Hanyang University 17 Haengdang-dong Seongdong-ku Seoul133-791 Korea Republic of Intelligent System Control Research Center Korea Institute Science and Technology Korea Republic of

This paper presents an improved ZVS partial series resonant DC/DC converter (PSRC) with low conduction losses, suitable for high power and high frequency application. The proposed PSRC has advantages of zero-voltage-switching (ZVS) of the main switches for entire load ranges and low conduction losses of the main switches by decreasing current stresses. Also, reduction of the effective duty cycle does not occur during resonant period of the main circuit because the auxiliary circuit of the proposed converter is placed out of the main power path. The auxiliary network is only composed of passive components including the auxiliary inductor, auxiliary capacitors, auxiliary diodes and saturable inductor. Therefore, an improved ZVS PSRC has improved characteristics with respect to the overall system efficiency. The operation principles of the proposed converter are explained in detail and the validity of the proposed converter is verified by several interesting simulated and experimental results. © 2000 IEEE.

关键词： Zero voltage switching

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Sensorless vector control of induction motor using a novel reduced-order extended Luenberger observer

Sensorless vector control of induction motor using a novel r...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Jooho Song Kyo-Beum Lee Joong-Ho Song Ick Choy Kwang-Bae Kim Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

A synthesis method of the reduced-order extended Luenberger observer (ROELO) and its design procedure for a nonlinear dynamic system are presented. This paper proposes a method to reduce the order of the observer and to select the observer gain matrix. The main features of the proposed observer are discussed and compared with the characteristics of the other observers. The proposed algorithm is applied for high-performance induction motor drives without a speed sensor. The simulation results show that the proposed ROELO provides both the rotor flux and rotor speed estimation with good transient and steady state performance.

关键词： Machine vector control Induction motors Observers Rotors control system synthesis Nonlinear dynamical systems Induction motor drives Sensor phenomena and characterization State estimation Steady-state

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A stable target-tracking control for unicycle mobile robots

A stable target-tracking control for unicycle mobile robots

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Proceedings. 2000 IEEE/RSJ International Conference on intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： Sung-On Lee Young-Jo Cho Myung Hwang-Bo Bum-Jae You Sang-Rok Oh Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

This paper deals with target tracking control of unicycle type mobile robots. Target tracking function is essential for autonomous robots such as guide robots, security guard robots, etc. In the field of mobile robot control, many control schemes for posture stabilization and trajectory tracking problem have been proposed. Target tracking control, however, cannot be achieved using these kinds of control laws. Therefore, a new global asymptotic stable controller for this problem is designed using the backstepping method. The stability of the system is proved using the Lyapunov function. Various simulation results validate the performance and theoretical analysis.

关键词： Mobile robots Target tracking Robot control Security Trajectory Backstepping Stability Lyapunov method Analytical models Performance analysis

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A novel visual servoing with stereo cameras using QR decomposition and disturbance observer

A novel visual servoing with stereo cameras using QR decompo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator.

关键词： Visual servoing Cameras Jacobian matrices Matrix decomposition controllability Manipulators intelligent control intelligent robots Robot vision systems Robot sensing systems

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An improved ZVS partial series resonant DC/DC converter with low conduction losses

An improved ZVS partial series resonant DC/DC converter with...

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Annual Conference of Industrial Electronics Society

作者： Dong-Yun Lee Eui-Sung Kim Dong-Seok Hyun Ick Choy Department of Electrical Engineering Hanyang University Seoul South Korea Intelligent system Control research Center Korea Institute of Science and Technology South Korea

关键词： Zero voltage switching Resonance DC-DC power converters Switches RLC circuits Inductors Frequency conversion Stress Capacitors Diodes

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Prediction of crest factor of electronic ballast for fluorescent lamp using pulse frequency modulation control

Prediction of crest factor of electronic ballast for fluores...

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Annual Conference of Industrial Electronics Society

作者： Joo-Ho Song Dong-Yun Lee Joong-Ho Song Ju-Yeop Choi Ick Choy Kwang-Bae Kim Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

When electronic ballasts are used for fluorescent lamps, lifetime of the lamp is greatly affected by starting scenario and crest factor. A new method to reduce the crest factor of the lamp is proposed, and the proposed electronic ballast is controlled in the mode of pulse frequency modulation (PFM). Electronic ballasts with 50% valley-fill PFC are dealt with in this paper. The characteristics of electronic ballast with the proposed PFM control scheme are comprehensively investigated through several simulations and experiments.

关键词： Pulse modulation Electronic ballasts Fluorescent lamps Frequency modulation RLC circuits Circuit topology Resonant inverters Voltage control systems Resonant frequency

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A novel visual servoing approach involving disturbance observer

A novel visual servoing approach involving disturbance obser...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea

To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. The paper proposes a visual servoing method based on a disturbance observer which compensates the effect of the off-diagonal component of the image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to the PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulators successfully.

关键词： Visual servoing Jacobian matrices Robot sensing systems Manipulators Service robots Image sensors intelligent control intelligent robots Cameras controllability

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