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This paper presents a comparative assessment of Pole Placement and Linear Quadratic Regulator to control a balancing of two wheels mobile robot. Disturbance is applied to to test the balancing of the robot. The mathematical model of this robot which is highly nonlinear is derived. The final model is then represented in state space form using MATLAB/Simulink application. Simulation on MATLAB application...
Use of unmanned Aerial Vehicles (UAVs) has gained significant importance in the recent years because of their ability to remotely monitor and perform various tasks in an autonomous manner. However, the control unit of such UAVs fails to adapt quickly when the UAVs are exposed to unpredictable and violent external disturbances such as violent wind gusts and extreme weather conditions. The cost of such...
Place recognition is a vital methodology for modeling environments and localizing autonomous mobile robots topologically. It can also be integrated in a hierarchical framework where it guides a fast and more precise metric position estimation. Especially for those hierarchical frameworks, it is crucial that the place recognition modules be highly accurate. In this paper, an information-theoretic approach...
Multi-Agent Path Planning (MAPP) can be considered the basic building block for implementing a reliable Multi-Agent Systems capable for interacting with real world. MAPP main task is how to get the appropriate path for movable agents where each agent is considered a dynamic obstacle to the others. Planning the exact path for each movable agent in a highly dynamic environment is a difficult task. This...
This paper addresses the problem of tuning the input and the output parameters of a fuzzy logic controller. A novel technique that combines Q(λ)-learning with a fuzzy inference system as a function approximation is proposed. The system learns autonomously without supervision or a priori training data. The proposed technique is applied to two different differential games. The proposed technique is...
In this paper, a T-S fuzzy modeling and tracking control method is proposed for wheeled mobile robots by using T-S fuzzy linearization approach. The proposed method has advantages in that the linear control theories can be used for the tracking control of wheeled mobile robots after linearization of them. The local linear models are converted into controllable canonical forms respectively and then...
Autonomous steering control is the principal task in the development of an intelligent transportation system. This research paper proposes a novel approach for vision based intelligent control of unmanned vehicles. The paper addresses the problems of accurate and efficient intelligent vehicle control by incorporating a well known evolutionary algorithm cAnt-Miner. The uniqueness of the proposed algorithm...
This paper addresses the problem of moving obstacle detection for autonomous mobile robots in unknown urban environments through the fusion of (vehicle-mounted) forward looking laser and vision sensors. In this approach we reparameterize the 2D gaussian distribution of the laser free-configuration eigenspaces by vision saliency gaussian kernel function. The approach uses bi-sensor paradigm to achieve...
This paper describes a concept for the creation of a 3D model of the environment by a mobile robot. This technique is called SLAM-Simultaneous Localization and Mapping. In this case we use stereocamera to find the significant features by the SURF detector. The SURF detector will also serve for the matching of the correspondent points in the both images. These points will then be connected to the triangular...
This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy...
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