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This paper presents a novel method for evaluating the danger within the environment of a robot manipulator. It is based on the introduced concept of kinetostatic danger field, a quantity that captures the complete state of the robot - its configuration and velocity. The field itself is invariant with respect to objects around the robot and can be computed in any given point of the workspace using...
In this paper we define a mathematical notion of ectropy for classifying diversity measures in terms of the extent to which they tend to penalize point collocation, we investigate the advantages and disadvantages of several known measures and we propose some novel ones. In particular, we introduce a measure based on Euclidean minimum spanning trees, a class of power mean based measures and three measures...
In a modern vehicle systems one of the main goals to achieve is driver's safety, and many sophisticated systems are made for that purpose. Vibration isolation for the vehicle seats, and at the same time for the driver, is one of the challenging problems. Parameters of the controller used for the isolation can be tuned for a different road types, making the isolation better (specially for the vehicles...
This paper proposes a procedure for parametric identification of plants having multiple sources of the pure time delays and internal feedbacks, which are extremely complicated for the identification. The procedure is based on a genetic algorithm applied to the samples of the frequency response on the plant.
This paper develops a fuzzy logic position controller which membership functions are tuned by genetic algorithm. The main goals are to ensure both successfully velocity and position trajectories tracking between the mobile robot and the reference cart. The proposed fuzzy controller has two inputs and two outputs. The first input represents the distance between the mobile robot and the reference cart...
This paper deals with both introducing novel technique of calculating population diversity and analyzing the existing ones. This motivation to investigate new methods of determining population diversity lies in significant disadvantages of commonly used techniques, particularly the ones that operate in a parameter space. The problem with these methods is that they can produce inexact information about...
This paper proposes a new reactive planning algorithm for mobile robot navigation in unknown environments. The overall navigation system consists of three navigation subsystems. The lower level subsystem deals with the control of the linear and angular velocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot is in the medium level, and it...
In this paper we proposed a new stable control algorithm for mobile robot trajectory tracking. The stability conditions are guaranteed by Lyapunov theory. The control parameters of backstepping algorithm are adjusted using genetic algorithm. Some of them are represented by unknown functions which are generated by neural network. The performance of the proposed controller is investigated using a kinematic...
We have previously developed a mobile robot position controller based on backstepping control algorithm. In this paper, we propose the extension of mentioned controller with an aim to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot. The parameters of this controller are adjusted by genetic algorithm. The same genetic algorithm was used for...
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