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This paper discusses about the trajectory planning and controlled maneuvering of the vehicle in parking assist mode. The objective of the proposed algorithm is to use low-cost hardware like ultrasonic sensor in order to provide automated parking assist to the vehicle. The concept of grid occupancy is formulated in free space detection algorithm to compute lateral-longitudinal grid cell vacancy. The...
The thickness of the boundary layer of the discrete-time Tracking-Differentiator is variable, so that the control characteristic line is asymmetric. In general, the nonlinear boundary transform is used to get the control synthesis function. However, it contains square root operations, and the compute is more complex. This study is conducted to put forward a new algorithm to simplify partition boundary...
This paper investigates the finite-time consensus tracking problem for a group of quadrotor aircraft with a leader-follower structure. Based on finite-time algorithms, the finitetime position controller and attitude controller are designed respectively in this note. Based on homogenous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given and it is shown...
This paper investigates the trajectory tracking control of the nonholonomic wheeled mobile robot (NWMR) using nonlinear model predictive control (NMPC). By defining the tracking error in the NWMR's local coordinate, the tracking problem is formulated into standard NMPC framework. However, the standard NMPC algorithm is computationally demanding so that it is difficult for the real-time implementation...
In this paper, an event-triggered distributed receding horizon control algorithm is proposed for dynamically coupled continuous-time linear systems. First, an event-triggered rule that is realized by monitoring the error between subsystem state and its optimal prediction is designed, and an extra constraint that restricts the discrepancy between each subsystem's assumed and predicted state and input...
The second-order sliding-mode controller based on improved sub-optimal algorithm for synchronous Buck converte r is designed, and the converter can be controlled only by detecti ng the output voltage without measuring the capacitance current of the converter. By introducing hysteresis to sub-optimal algorit hm, the switching frequency of the converter is limited when the output voltage is stable....
Formation-containment tracking problems for high-order linear multi-agent system on directed graphs are studied, where the multi-agent system is composed of a virtual leader, several real leaders and followers. The real leaders need to not only accomplish a predefined time-varying formation but also track the expected trajectory generated by the virtual leader, while the followers are required to...
This paper represents a non-cooperative trajectory-planning algorithm for vehicles with consideration of drivers' characteristics. The driver-vehicle model considering driver's different characteristics is applied to formulate a vehicle to vehicle (V2V) encountering system. The non-cooperative control algorithm is employed to plan collision-free trajectories for these encountering vehicles with initial...
This paper proposes a motion trajectory control method of underground intelligent scraper based on particle swarm optimization. The simulation model of whole system was established in simulink according to autonomous navigation bivariate PID control algorithm and scraper motion control model. The process of particle swarm optimization was designed based on MATLAB platform. The parameter optimization...
This paper introduces a new integrated algorithm to achieve the complete coverage path planning (CCPP) task for the mobile robot in a given obstacles-included terrain. The algorithm combines the cellular decomposition approach and the chaotic Standard map together to design the coverage procedure. The cellular decomposition approach decompose the target region into several rectangular feasible sub-regions...
Analyzing data representing multifarious trajectories is central to the many fields in Science and Engineering; for example, trajectories representing a tennis serve, a gymnast’s parallel bar routine, progression/remission of disease and so on. We present a novel geometric algorithm for performing statistical analysis of trajectories with distinct number of samples representing longitudinal (or temporal)...
Modelling and digitizing performing arts through motion capturing interfaces is an important aspect for the analysis, processing and documentation of intangible cultural heritage assets. However, existing modelling approaches may involve huge amounts of information which are difficult to process, store and analyze. To address these limitations, usually a skeleton describing the dancer motion is extracted...
This paper provides a comprehensive empirical performance analysis of various trajectory compression algorithms for offline compression of trajectory data of sea borne objects which include boats, trawlers, ships etc. Our empirical study uses data from a surveillance application. The surveillance application receives data from various sensors which include GPS integrated sensors, Radars, AIS, S-AIS...
K-means algorithm has been a workhorse of unsupervised machine learning for many decades, primarily owing to its simplicity and efficiency. The algorithm requires availability of two key operations on the data, first, a distance metric to compare a pair of data objects, and second, a way to compute a representative (centroid) for a given set of data objects. These two requirements mean that k-means...
Map matching is the problem of matching the recorded geographic coordinates to a road network. In this paper, we propose an algorithm focusing on online process of low sampling rate data which estimates the weight of the candidate road based on spatial analysis and topological constraints. The proposed algorithm divides the whole trajectory into several parts and performs map matching respectively,...
In mobile communications, the wireless channel has been widely considered to be time-variant. To statistically model the time-variant channels, a power weighted dynamic multi-path components (MPCs) tracking algorithm is proposed in this paper, which is based on multiple-target tracking. The problem of seeking potential position is considered as a maximum a posteriori (MAP) estimation in a Markov random...
Release region boundary is related with the utmost trajectory of guided bombs. As a result, the boundary issue can be transformed into many rounds of optimal range calculation through a simple translation transformation. Particle trajectory models for a certain guided bomb on surfaced-launched and off-axis are built. Then, genetic algorithm's inevitable shortcomings of immature convergence phenomenon...
In this paper we consider the data caching problem in next generation data services in the cloud, which is characterized by using monetary cost and access trajectory information to control cache replacements, instead of exploiting capacityoriented strategies as in traditional research. In particular, given a stream of requests to a shared data item with respect to a homogeneous cost model, we first...
This paper presents a kinematic model based path planning algorithm for autonomous vehicle. Polynomial parameterization is used to generate the trajectory. All constraints including kinematic constraints and obstacles are represented by polynomial parameters. Using this parameterization method the velocity can be planned simultaneously. Road information is taken into account in the object function...
Video surveillance has been used extensively in our daily life today, for example, traffic safety, trajectory analysis, event monitoring, and crowd behavior identification. However, sometimes in many real-world video sequences dealing with complex scenario and environmental noise is still a challenging task. One solution is to consider information of scenario during tracking. In this paper, we propose...
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