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From the times of the British raj to this date, scavenging rail tracks has been a puzzling social issue. The fact that humans have to clean human waste and other garbage thrown on rail tracks is a situation that needs immediate remedy. Manual scavenging is done now-a-days, owing to the peculiar nature of the job, and many who are engaged for this job suffer from related health problems. The prevailing...
Autonomous vehicle navigation requires the integration of many technologies such as path tracking. In path tracking design, we must take into account the dynamic of actuators in order to reduce overshoots appearing for small displacements. It permits the generation of an optimal movement reference-input giving a minimum path completion time, taking into consideration the maximum velocity, acceleration...
Many tracking problems are split into two sub-problems, first a smooth reference trajectory is generated that meet the control design objectives, and then a closed loop control system is designed to follow this reference trajectory as well as possible. Applications of this kind include (autonomous) vehicle navigation systems and robotics. Typically, a spline model is used for trajectory generation...
Human beings do not have well defined shapes neither well defined behaviors. In dense outdoor environments, they are as a consequence hard to detect and algorithms based on a single sensor tend to produce lot of wrong detections. Moreover, many applications require algorithms that work very fast on CPU limited mobile architectures while remaining able to detect, track and classify objects as people...
In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional...
In this paper, a system capable of obtaining the 3-D pose of a mobile robot using a ring of calibrated cameras attached to the environment is proposed. The system robustly tracks point fiducials in the image plane of the set of cameras generated by the robot's rigid shape in motion. Each fiducial is identified with a point belonging to a sparse 3-D geometrical model of the robot's structure. Such...
This paper presents a planned navigation control architecture of a self-balancing two-wheeled platform for autonomous service robots. Based on the linearized mathematical modeling incorporating the frictions between the wheels and the motion surface, a kinematical trajectory tracker and two adaptive controllers are designed to track speed and yaw rate commands. A human-aware trajectory generator is...
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