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The formation control problem of mobile multiple robots is investigated. A formation control scheme based on a hierarchical virtual structure is proposed. The mobile robots are divided into some clusters according to their distributions in space and then the motion trajectory of every cluster (virtual structure) is defined, so the motion of virtual structure is transformed to desired trajectory of...
This article describes a natural landmarks detection method to use with conventional 2D laser rangefinders. The method consists of three main parts: data clustering, smoothing and segmentation. A smoothing algorithm within a scale space framework is introduced to smooth the range image. This is achieved by repeatedly convolving the scan data with an adaptive smoothing mask calculated according to...
Through much research into environment characteristic of the fast movement and anomalous celestial bodies figure in autonomous orbit determination of deep space explorer, an autonomous optical navigation scheme based on Unscented Kalman Filter is proposed to determine the circling orbit state in time, in which star sensor and navigation camera are used in measuring special angles between planetoids...
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