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In this paper, we use the combination of graph theory and consensus algorithm to realize the formation control of nonholonomic wheeled robots. A novel edge-weight function is designed so that the desired formation-shape can be achieved. In addition, the consensus problem is usually solved on the assumption that the robots are modeled as particle model, but this assumption is not suitable when we are...
This paper studies trajectory tracking control of unicycle-type mobile robots with longitudinal slippage in kinematic level. By introducing a parameter, called “Slipping ratio”, into the steering system, an adaptive controller different from [8] is designed. All the tracking errors are guaranteed to converge to zero asymptotically using the proposed controller. At the meantime, with some limitations...
In this paper, we combine the leader-follower and communication together to carry out the formation control of multiple nonholonomic mobile robots. Here, we use the controller based on a kinematic model using Cartesian coordinates for the followers and a classical control algorithm for the leader. What's more, in order to improve the adaptability to the environment, communication based on a kind of...
Fault diagnosis and failure prognosis are critical techniques to improve the safety and reliability of modern complex electromechanical systems. In this paper, a model-based prognosis method is developed to deal with multiple incipient faults in a mobile robot steering system. This method utilizes the concept of Augmented Global Analytical Redundancy Relations (AGARRs) to handle failures with both...
This article introduces a new approach to Simultaneous Localization and Mapping (SLAM) which pursues robustness and accuracy in large-scale environments. Unlike most successful works on SLAM, we use non-probability method to build the local geometry map, and let the loop closure data fusion module to deal with the inconsistency of global map which is the most difficult problem in SLAM. We also design...
This paper builds a vestibular system model for AIBO ERS-7 robot based upon its 3-axis accelerometer. The model consists of three parts, posture calculation method, low-pass filter deriving smoothed acceleration signals, Oscillation Power (O.P.), a pattern for differentiation of surfaces, and its extraction mechanism. It fulfills three environment perception tasks correspondingly, slope detection,...
Homing is one of the fundamental functions for both the mobile robot and the flying robot. Furthermore, homing can be introduced into a topological navigation system by cyclically setting Home positions at the keypoints/nodes in a topological map. In this work, we describe a bearing-only homing method based on only few matching keypoints to grant the mobile robot the homing ability. Our method considers...
Mobile robots rely on their ability of scene recognition to build a topological map of the environment and perform location-related tasks. In this paper, we describe a novel lightweight scene recognition method using an adaptive descriptor which is based on color features and geometric information for omnidirectional vision. Our method enables the robot to add nodes to a topological map automatically...
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