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This paper addresses the problem of planning paths for multiple mobile robots moving in the same environments. We try to decrease the computational complexity of path planning, which is one of the fundamental limiting characteristics in the existing work of path planning. Unlike many other approaches to this problem, we assume the robots are restricted by the limited-communication range such that...
Focusing on detail preserving in triangle mesh model simplification, a novel 3D geometric model region partition method based on self-organizing feature map is proposed. Firstly, computing the character vector of each vertex of 3D geometric model. Next, segmenting 3D geometric model preliminarily based on self-organizing feature map. Finally, merging over-segmentation regions used max-relativity rule...
People tracking and localization in situations with coexisting service robots is a challenging task due to the non-rigid nature of human body, complex background and frequent occlusions among people and robots. A multi-view approach is proposed to people-tracking and localization whilst the robotpsilas capability of perceiving environment is utilized. Initiated by person detection, tracking within...
Aiming at the problems that WSN faces, we proposed a coordination method for target tracking based on multiagent in this paper. The sensor field is divided dynamically into several parts in order to perform distributed tracking. Sensors try to form dynamic coalition in each field for fulfilling tasks. When a target move to the sensing filed, the sensor nodes begin to forming coalition and then negotiations...
The structure and mathematical modeling of a dual-wheel upright self-balance robot are studied. The simulation and the real experiment of robot are done. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two high precision DC servo motors with photoelectric encoder. Direct current servo control system...
To reduce redundant data volume, save energy expenditure, and enhance intelligent control for multiple video cameras in video surveillance. We present a scheme for the video surveillance system using wireless sensor network (WSN) technology. When an intrusion signal is detected by a wireless sensor module, video cameras are activated and snap pictures in fixed time interval. A neighborhood linkage...
The structure and mathematical modeling of a dual-wheel upright self-balance robot are studied. The simulation and the real experiment of robot are done. The system is made up of a mobile mechanism, sensor for posture observation and the controller. The right and left wheels are driven separately by two high precision direct current (DC) servo motors with photoelectric encoder. Direct current servo...
For a monocular camera-based mobile robot system, an adaptive visual regulation controller is proposed in this paper to asymptotically stabilize the robot to its desired position/orientation, in which range sensor is not required and unknown camera extrinsic parameters are considered as well. First, based on the relationship between the robot frame and the camera frame, kinematic model of the monocular...
Multi-sensor information fusion technology is an emerging technology, which is the foundation of robot intelligent control. This paper introduces the definition of multi-sensor information fusion technology from bionic, mathematic and engineering aspects respectively. Multi-sensor information fusion technologypsilas working process is explained. The principles, advantages and shortcomings of some...
This paper developed three subsystems of robot perceptive system: visual, aural and olfactory for a three DOF robot perceptive system, which can get the primary location of the target by aural sensor, the exact location and tailing of the target, and estimation the location parameter by CCD camera. The olfactory sensor was used to detect whether there were dangerous gases around or not. The multi-sensor...
According to virtual structures andisomorphic mapping descriptions from initial to goal formation of a swarm robot, a geometric control method of part entire-arrangement formation mapping is presented. In an isomorphic mapping set of all possible formation transformations, a mapping with shortest time is selected in order that the arbitrary formation transformation is time optimal. The stability of...
The configuration characteristics and control system composition of inspection robot are firstly introduced. Then the planning method and the control process of crossing obstacles are discussed aiming at crossing obstacles automatically. Namely, with the method of hierarchical planning, the on-line planning is done from the behavior level using production system reasoning. The action sequence will...
A robot can be used to non-contact measurement with a structured-light scanner fixed to its end effector. In order to transform the 2-dimension values measured by the sensor into the 3-dimension values in the world frame, the geometric model of the system is established. A method to estimate hand-eye matrix is presented, which uses a radius-known ball, whose center is derived from the least square...
The capability of the lunar rover driving off the lander successfully and restoring to well-balanced state from unsteady state is very important to fulfill the exploration. The design method is presented to improving the two-wheeled lunar roverpsilas capability of anti-overturning, the spherical crown end closure is adopted by the design of wheel. The mathematics model is built to describe the necessary...
The radial basis function (RBF) neural network with Gaussian activation function and least-mean squares (LMS) learning algorithm is a popular function approximator widely used in many applications due to its simplicity, robustness, optimal approximation, etc.. In practice, however, making the RBF network (and other neural networks) work well can sometimes be more of an art than a science, especially...
A method of real-time collision obstacle for autonomous mobile robots in local dynamic environment using multi-sensor data fusion is proposed. Due to the effectiveness of the optical flow sensors, the robot can acquire more accurate self-motion information. This paper also proposes an approach to complete enhancement based on the earlier vector field histogram algorithm (VFH), which is called VFH#...
The main contribution of this paper is an algorithm for integrating motion planning and simultaneous localization and mapping (SLAM). We propose an effective navigation method and take into account not only the specific exploration situation, but also the uncertainty estimation of localization and mapping. In our method, both the navigation cost and the system uncertainty constitute an objective function...
Research on sensor fault diagnosis of underwater robots (URs) is undertaken to improve its whole system reliability. Based on the analysis of URspsila three kinds of sensor failures, fault diagnosis methods corresponding to these failures are presented. The basic principles of wavelet transform and linear smoothing are expressed, signal singularity analysis is conducted and the general standard of...
Recognition and identification of weld environment and seam dimensional position by computer vision is a key technology for developing advanced autonomous welding robot. In this paper, based on the robot laser curve seam tracking background we present our dual-beam structured light system that generates richer information than obtained only from one structured light system. Then the orthogonal Zernike...
Map building in unknown environment is the prerequisite to perform other tasks for the mobile robots. An effective approach based on the frontier points is proposed in this paper. Firstly, an adaptive clustering algorithm which integrates subtractive clustering and k-means clustering is introduced to partition the frontier points into different groups. Secondly, the centers of the groups serve as...
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