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There are 13 papers published in subject: > since this site started. |
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1. Lidar odometry based on lidar data to image data | |||
Huang Si-Yuan,Jiao Ji-Chao | |||
Electrics, Communication and Autocontrol Technology 02 March 2023 | |||
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Abstract:SLAM (simultaneous localization and mapping) plays an increasingly important role in the field of robotics and autonomous driving. Laser SLAM in some outdoor complex situations, there will still be complex degradation. For some degraded scenes, this paper proposes a lidar odometry method based on converting lidar data into picture data. In this method, a degradation module is designed to detect whether the environment is degraded. If the degradation is followed by the method proposed in this paper. The method first converts the lidar data into canary release image data. Currently, the image already contains the accurate distance information of the lidar, and then processes it as an image through the Deep learning network to generate a stable and reliable lidar odometer. After testing, it is more accurate and robust than the algorithms commonly used in the industry in the kitti dataset and campus environment, It better solves the problems faced by some degraded scenarios. | |||
TO cite this article:Huang Si-Yuan,Jiao Ji-Chao. Lidar odometry based on lidar data to image data[OL].[ 2 March 2023] http://en.paper.edu.cn/en_releasepaper/content/4759215 |
2. MADDPG based Assembly Approach of Cooperative Robotic Arms | |||
LI Yanjiang,WANG Chensheng,YANG Guang,JING Xueliang,LI Yangguang,QIAN Zhixuan | |||
Electrics, Communication and Autocontrol Technology 15 June 2020 | |||
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Abstract:Compared with the single robitic arm, a two-arm cooperative robot has a more complex problem of motion interference. In cooperative assembly problems, traditional control methods need much calculation to establish a mathematical model for motion planning, which can not meet the needs of modern industry. Multi-Agent Reinforcement Learning(MARL) provides a new way to solve the assembly problem. This paper proposes a assembly method of collaborative robotic arm based on MADDPG. A multi-agent system simulation environment is founded based on MuJoCo physical engine and then assembly tasks in the environment are solved with MADDPG model. Finally, the approach is proved to be effective by experiment. | |||
TO cite this article:LI Yanjiang,WANG Chensheng,YANG Guang, et al. MADDPG based Assembly Approach of Cooperative Robotic Arms[OL].[15 June 2020] http://en.paper.edu.cn/en_releasepaper/content/4752399 |
3. Action Selection for Active and Cooperative Global Action Selection based on Localizability Estimation forMulti-robot Global Localization | |||
Liu Zhe,Chen Weidong,Wang Jingchuan | |||
Electrics, Communication and Autocontrol Technology 08 October 2013 | |||
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Abstract:In this paper we investigate the action selection problem for multiple mobile robots active and cooperative global localization in large environments. Firstly, an off-line localizability estimation approach using known probabilistic grid map (PGM) is briefly proposed and a localizability matrix is presented to describe properties of expected localization probability distribution. Based on the proposed localizability matrix, a novel on-line action selection mechanism is further presented which enables multiple mobile robots to actively collaborate with each other and select complementary actions with redundant information exclusion. This action selection mechanism brings lowest expected localization covariance in each localization cycle and can accelerate the converging speed. Efficiency in time complexity also ensures that the proposed method could be used in real applications. The appropriateness of our approach is demonstrated through simulations and real experiments. | |||
TO cite this article:Liu Zhe,Chen Weidong,Wang Jingchuan. Action Selection for Active and Cooperative Global Action Selection based on Localizability Estimation forMulti-robot Global Localization[OL].[ 8 October 2013] http://en.paper.edu.cn/en_releasepaper/content/4563143 |
4. Table Tennies Bouncing Model for Humanoid pingpong players | |||
CHEN Xiaopeng,XUE Jingtao,MENG Fei | |||
Electrics, Communication and Autocontrol Technology 01 April 2013 | |||
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Abstract:The bouncing model plays an important role in the trajectory prediction process when the humanoid robots play table tennis. A nonlinear bouncing model based on Momentum Theorem and Moment of Momentum Theorem considering spin of the ball is established to describe the collision between the ball and the table. With the constructed nonlinear bouncing model, the hitting strategy is discussed to hit the ball the way we expect. Experiments show that with the existing aerodynamic model, we can predict the table tennis trajectory within the desired error range. | |||
TO cite this article:CHEN Xiaopeng,XUE Jingtao,MENG Fei. Table Tennies Bouncing Model for Humanoid pingpong players[OL].[ 1 April 2013] http://en.paper.edu.cn/en_releasepaper/content/4530223 |
5. Research on Compressed EKF Based SLAM Algorithm for Unmanned Underwater Vehicle | |||
WANG Hongjian,LI Cun,LV Hongli,Chen Xinghua | |||
Electrics, Communication and Autocontrol Technology 11 September 2012 | |||
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Abstract:The Extend Kalman Filter based algorithm for simultaneous localization and mapping cannot satisfy the requirement of real time map updating because of the increasing number of landmarks and the heavy calculating cost while AUV working for long time endurance. The Compressed EKF based SLAM is introduced in this paper. And the method of map management and the local map switch strategy are addressed, which divide the AUV navigating area into several local sub-maps. The navigation error calculating based on landmarks in sub-map is completed in local area by using Extend Kalman filter, and the global map updating is done only when the condition satisfied the switch rule of the sub-map. Finally the CEKF-SLAM based navigating method is tested with the trial data, and by comparing with the dead reckoning navigating result, the test results show that the navigation error of CEKF-SLAM algorithm is less than that of dead reckoning algorithm, and on the same time, the former reduces the calculation cost for AUV navigation. | |||
TO cite this article:WANG Hongjian,LI Cun,LV Hongli, et al. Research on Compressed EKF Based SLAM Algorithm for Unmanned Underwater Vehicle[OL].[11 September 2012] http://en.paper.edu.cn/en_releasepaper/content/4489091 |
6. Task Allocation of Multiple Autonomous Underwater Vehicle System Based on Multi-objective Optimization | |||
WANG Hongjian,LV Hongli,WANG Linlin | |||
Electrics, Communication and Autocontrol Technology 07 September 2012 | |||
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Abstract:When executing a complex mission, the multi-AUV system need to confirm a better task allocation scheme to make sure that the system is efficient. However, there are many standards which are utilized to determine the system's efficient, and there maybe confliction between them. In order to solve the task allocation of multi-AUV system based on multi-objective optimization, a multi-objective optimization based on ant system algorithm was proposed. By the single-objective optimization in single ant system and the interaction between different ants systems, this algorithm achieve the Pareto solution's set at last. On the other hand, an algorithm evaluation method was given out to evaluate the performance of the algorithm above. Based on this algorithm, the task allocation of multi-AUV system based on multi-objective optimization was studied in details and the stimulation of task allocation was provided. | |||
TO cite this article:WANG Hongjian,LV Hongli,WANG Linlin. Task Allocation of Multiple Autonomous Underwater Vehicle System Based on Multi-objective Optimization[OL].[ 7 September 2012] http://en.paper.edu.cn/en_releasepaper/content/4488896 |
7. Variant Scheme of Adaptive Tracking Control for Robot Manipulators | |||
HUANG Chunqing | |||
Electrics, Communication and Autocontrol Technology 29 October 2011 | |||
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Abstract: This paper develops a variant scheme of adaptive algorithm for tacking control of robot manipulators, which includes the traditional adaptive algorithm as a special case. Asymptotic stability of the resulting closed-loop system is guaranteed. Simulation results show the improved transient performance in respect to the counterpart of the traditional adaptive. | |||
TO cite this article:HUANG Chunqing. Variant Scheme of Adaptive Tracking Control for Robot Manipulators[OL].[29 October 2011] http://en.paper.edu.cn/en_releasepaper/content/4447321 |
8. PD plus Error-dependent Controllers for Robot Manipulators with Uncertain Kinematics | |||
HUANG Chunqing,XIE Lifen | |||
Electrics, Communication and Autocontrol Technology 13 June 2011 | |||
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Abstract:In framework of PID controllers, there is only three parameters available to tune, as a result, performance of the resulting system is always limited. As for Cartesian regulation of robot manipulators with uncertain kinematics, a new scheme of PID controllers with error-dependent integral action is proposed. Compare with the traditional PID controllers, the error-dependent integration is employed in this proposed controller to improve performance. It makes better transient performance possible since more tuning parameters are involved to be tuning in this PID structure. Finally, numerical example demonstrates the efficiency of the proposed PID controller by Cartesian space set-point manipulation of two-link robotic manipulator. | |||
TO cite this article:HUANG Chunqing,XIE Lifen. PD plus Error-dependent Controllers for Robot Manipulators with Uncertain Kinematics[OL].[13 June 2011] http://en.paper.edu.cn/en_releasepaper/content/4432345 |
9. A Multiple Bio-Neurological Signals Based Real Time Control Approach | |||
ZHANG TAO,CHEN CHEN,Masatoshi Nakamura | |||
Electrics, Communication and Autocontrol Technology 13 February 2009 | |||
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Abstract:This paper proposes a multiple bio-neurological signals based real time control approach. In this method, raw multiple bio-neurological signals are first extracted and segmented in the pre-processing. The processed bio-neurological signals will be then evaluated by calculating feature parameters of these signals. Since in bio-neurological signals they may be contaminated by various kinds of artifacts, by means of feature parameters of bio-neurological signals, some artifacts of bio-neurological signals can be indicated. In the proposed method, EOG signal is used to generate control signal, and EEG signal is adopted to assist to make judgment about the valid of EOG signal. With the proposed method, a control software platform was constructed and by means of this platform, simulation work was carried out to control the behavior of a robot in real time. The simulation results verified the effectiveness of the proposed method. | |||
TO cite this article:ZHANG TAO,CHEN CHEN,Masatoshi Nakamura. A Multiple Bio-Neurological Signals Based Real Time Control Approach[OL].[13 February 2009] http://en.paper.edu.cn/en_releasepaper/content/28999 |
10. Coordination of Multi-agent Systems with Communication Delays | |||
Cheng-Lin Liu,Yu-Ping Tian | |||
Electrics, Communication and Autocontrol Technology 28 December 2007 | |||
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Abstract:In this paper, we investigate the coordination of a network of second-order dynamic agents under communication delays. Based on the frequency-domain analysis and matrix theory, the necessary and sufficient condition for the system converging to stationary consensus and dynamic consensus are obtained, respectively. The condition depends on the communication delay, the eigenvalues of the Laplacian matrix, and the interconnection topology of the network. Moreover, we apply the consensus algorithm to the formation control of the multi-agent system with communication delays. The agents in the system can achieve arbitrary desired formation pattern, and the formation moves in a desired velocity. Simulation results illustrate the correctness of the results. | |||
TO cite this article:Cheng-Lin Liu,Yu-Ping Tian. Coordination of Multi-agent Systems with Communication Delays[OL].[28 December 2007] http://en.paper.edu.cn/en_releasepaper/content/17525 |
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