检索结果-内蒙古大学图书馆

Towards Efficient Trajectory Generation for Ground Robots beyond 2D Environment

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Wang, Jingping Xu, Long Fu, Haoran Meng, Zehui Xu, Chao Cao, Yanjun Lyu, Ximin Gao, Fei State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen518107 China Applicaion Innovation Laboratory Huawei Technologies Co. Ltd China

With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation planning framework beyond 2D. Existing methods rarely considers both simultaneously, limiting the capabilities and applications of ground robots. In this paper, we proposed an optimization-based planning framework for ground robots considering both active and passive height changes on the z-axis. The proposed planner first constructs a penalty field for chassis motion constraints defined in R3 such that the optimal solution space of the trajectory is continuous, resulting in a high-quality smooth chassis trajectory. Also, by constructing custom constraints in the z-axis direction, it is possible to plan trajectories for different types of ground robots which have z-axis degree of freedom. We performed simulations and real-world experiments to verify the efficiency and trajectory quality of our algorithm. Copyright © 2023, The Authors. All rights reserved.

关键词： Trajectories

Efficient Planar Pose Estimation via UWB Measurements

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Jiang, Haodong Wang, Wentao Shen, Yuan Li, Xinghan Ren, Xiaoqiang Mu, Biqiang Wu, Junfeng China School of Data Science The Chinese University of HongKong Shenzhen China College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China School of Electronic and Optical Engineering Nanjing University of Science and Technology Nanjing China School of Mechatronic Engineering and Automation Shanghai University Shanghai China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China

state estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband (UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics treat UWB as a stand-alone state estimation solution. The primary purpose of this work is to investigate planar pose estimation using only UWB range measurements. We prove the excellent property of a two-step scheme, which says we can refine a consistent estimator to be asymptotically efficient by one step of Gauss-Newton iteration. Grounded on this result, we design the GN-ULS estimator, which reduces the computation time significantly compared to previous methods and presents the possibility of using only UWB for real-time state estimation. Copyright © 2022, The Authors. All rights reserved.

关键词： state estimation

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

学校读者我要写书评

暂无评论

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadroto...

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhi Zheng Jin Wang Yuze Wu Qifeng Cai Huan Yu Ruibin Zhang Jie Tu Jun Meng Guodong Lu Fei Gao The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to roll through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely roll through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient rolling through challenging terrains while conserving energy.

关键词：

Anti-degenerated UWB-LiDAR localization for automatic road roller in tunnel

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Shen, Bingqi Chen, Yuyin Yang, Huiyong Zhan, Jianbo Sun, Yichao Xiong, Rong Dai, Shuwei Wang, Yue The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China College of Mechanical and Vehicle Engineering Hunan University Changsha China Hangzhou Iplus Technology Co. Ltd Hangzhou China

The automatic road roller, as a popular type of construction robot, has attracted much interest from both the industry and the research community in recent years. However, when it comes to tunnels where the degeneration issues are prone to happen, it is still a challenging problem to provide an accurate positioning result for the robot. In this paper, we aim to deal with this problem by fusing LiDAR and UWB measurements based on optimization. In the proposed localization method, the directions of non-degeneration will be constrained and the covariance of UWB reconstruction will be introduced to improve the accuracy of localization. Apart from these, a method that can extract the feature of the inner wall of tunnels to assist positioning is also presented in this paper. To evaluate the effectiveness of the proposed method, three experiments with real road roller were carried out and the results show that our method can achieve better performance than the existing methods and can be applied to automatic road roller working inside tunnels. Finally, we discuss the feasibility of deploying the system in real applications and make several recommendations. Copyright © 2021, The Authors. All rights reserved.

关键词： Optical radar

Asynchronous control for Discrete-Time Markovian Jump systems with Multiplicative Noise

学校读者我要写书评

暂无评论

SSRN

SSRN 2022年

作者： Wang, Shitong Wu, Zheng-Guang Shi, Peng Wu, Zhaojing The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang Hangzhou310027 China Institute of Intelligence Science and Engineering Shenzhen Polytechnic Guangdong Shenzhen518000 China The School of Electrical and Electronic Engineering The University of Adelaide AdelaideSA5005 Australia The School of Mathematics and Informational Science Yantai University Shandong Yantai264005 China

In this note, the guaranteed cost control problem for discrete-time Markovian jump systems with state and control multiplicative noise is solved. Since the model mismatch problem often exists in system modes and controller modes, an asynchronous controller is presented to make the system stochastically stable in this paper. By using of the linear matrix inequality techniques, an optimization solution can be obtained, such that the quadratic cost function can be minimized, meanwhile the expectation of the state and control can be guaranteed in a constraint set. © 2022, The Authors. All rights reserved.

关键词： Phase noise

DiSCO: Differentiable Scan Context with Orientation

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Xu, Xuecheng Yin, Huan Chen, Zexi Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention as it is robust against the environmental change. In this paper, we propose a LiDAR-based place recognition method, named Differentiable Scan Context with Orientation (DiSCO), which simultaneously finds the scan at a similar place and estimates their relative orientation. The orientation can further be used as the initial value for the down-stream local optimal metric pose estimation, improving the pose estimation especially when a large orientation between the current scan and retrieved scan exists. Our key idea is to transform the feature learning into the frequency domain. We utilize the magnitude of the spectrum as the place signature, which is theoretically rotation-invariant. In addition, based on the differentiable phase correlation, we can efficiently estimate the global optimal relative orientation using the spectrum. With such structural constraints, the network can be learned in an end-to-end manner, and the backbone is fully shared by the two tasks, achieving interpretability and light weight. Finally, DiSCO is validated on the NCLT and Oxford datasets with long-term outdoor conditions, showing better performance than the compared methods. 1 Copyright © 2020, The Authors. All rights reserved.

关键词： Frequency domain analysis

Collaborative Localization of Aerial and Ground Mobile Robots through Orthomosaic Map

学校读者我要写书评

暂无评论

Collaborative Localization of Aerial and Ground Mobile Robot...

IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Xuecheng Xu Zexi Chen Jiaxin Guo Yue Wang Yunkai Wang Rong Xiong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground system. The proposed approach aims to help precisely matching the map constructed by two independent systems who have large scale variance of view points of the same route and eventually enables the ground mobile robot to localize itself in the global map given by the drone. It contains dense mapping with Elevation Map and software “Metashape”, map matching with a proposed template matching algorithm, weighted normalized cross correlation (WNCC) and localization with particle filter. The approach enables map matching for cooperative SLAM with a feasibility of multiple scene sensors, varies from stereo cameras to lidars, and is insensitive to the synchronization of the two systems. We demonstrate the accuracy, robustness, and the speed of the approach under experiments of the Aero-Ground Dataset [1].

关键词： Mobile robots Robots Cameras Robot vision systems Simultaneous localization and mapping Collaboration Correlation

Event-Triggered Adaptive control for a Class of Nonlinear systems with Unknown Time-Varying Parameters

学校读者我要写书评

暂无评论

Event-Triggered Adaptive Control for a Class of Nonlinear Sy...

IEEE Conference on industrial Electronics and Applications (ICIEA)

作者： Wenxiu Zhuang Jing Zhou Zhitao Liu Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

In this paper, we investigate the event-triggered output tracking problem for a class of nonlinear systems with unknown time-varying parameters. To reduce the communication burden, an event-triggered adaptive control method is proposed by introducing hyperbolic tangent functions in the controller to compensate for the effects of the time-varying parameters. New estimation laws are developed to estimate the bounds of time-varying parameters, where no any prior information about the bounds of unknown time-varying parameters is required. An additional term is introduced in the parameter estimation law to compensate for the effects of unknown time-varying parameters. The proposed control scheme can effectively reduce the communication burden while maintain global stability of the closed-loop system, which means that all the signals are bounded. And the tracking error converges towards an adjustable set, which can be exactly expressed with the user-defined parameters. Simulation results are given to show the performance of the proposed method.

关键词： Parameter estimation Simulation Stability analysis Nonlinear systems Adaptive control Time-varying systems Tuning

Distributed Adaptive Cooperative control for a Class of Nonlinear Multi-Agent systems via Fully Event-triggered Mechanism

学校读者我要写书评

暂无评论

Distributed Adaptive Cooperative Control for a Class of Nonl...

Annual Conference of industrial Electronics Society

作者： Ming Xiao Zhitao Liu Hongye Su Weihua Xu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

In this paper, the distributed cooperative control for a class of nonlinear multi-agent systems connected by undirected graph is investigated. The dynamic of each agent is first order with unknown mismatched parameters and external disturbances. To reduce the communication burden between each agent and decrease the update frequency of the controllers, the fixed threshold event-triggered mechanisms are considered during the states's broadcasting and the control signals. Based on the adaptive method, the event-based cooperative control protocol is constructed. The asymptotically consensus tracking of all agents are guaranteed and the signals in the closed-loop system are bounded, meanwhile the Zeno behavior is excluded. Simulation results of four agents show the effectiveness and performance of the proposed method.

关键词： Broadcasting Multi-agent systems Protocols Stability analysis Nonlinear dynamical systems Measurement errors Lyapunov methods