IEEE Trans. Robotics Autom.最新文献_第8页

Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control 用于先进车辆控制的磁力计和差分载波相位gps辅助INS

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809591

Yunchun Yang, J. Farrell

{"title":"Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control","authors":"Yunchun Yang, J. Farrell","doi":"10.1109/TRA.2003.809591","DOIUrl":"https://doi.org/10.1109/TRA.2003.809591","url":null,"abstract":"This paper describes the design, analysis, implementation, and experimental results of a triple redundancy navigation system incorporating magnetometer, inertial, and carrier phase differential Global Positioning System (GPS) measurements. The navigation system is able to accurately estimate vehicle attitude (including yaw) as long as the vehicle velocity is not zero. The motivating application was lateral vehicle control for intelligent highway systems. The system was designed to operate reliably whether or not GPS and magnetometer measurements were available. The navigation system provides vehicle position, velocity, acceleration, pitch and roll, yaw, and angular rates at 150 Hz with accuracies (standard deviation) of 2.8 cm, 0.8 cm/s, 2.2 cm/s/s, 0.03/spl deg/, 0.18/spl deg/, and 0.1/spl deg//s. This navigation state vector was processed to produce a control state vector at approximately 30 Hz. This triplicate redundancy navigation system reliably demonstrated lateral vehicle control in the following situations: both GPS and magnetometer aiding the inertial navigation system (INS), GPS-aided INS, magnetometer aided-INS, and switching between GPS and magnetometer aiding of the INS at random times.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130466664","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 93

Motion planning of multiple mobile robots for Cooperative manipulation and transportation 多移动机器人协同操作和运输的运动规划

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809592

A. Yamashita, T. Arai, J. Ota, H. Asama

{"title":"Motion planning of multiple mobile robots for Cooperative manipulation and transportation","authors":"A. Yamashita, T. Arai, J. Ota, H. Asama","doi":"10.1109/TRA.2003.809592","DOIUrl":"https://doi.org/10.1109/TRA.2003.809592","url":null,"abstract":"In this paper, we propose a motion-planning method of multiple mobile robots for cooperative transportation of a large object in a three-dimensional environment. This task has various kinds of problems, such as obstacle avoidance and stable manipulation. All of these problems cannot be solved at once, since it would result in a dramatic increase of the computational time. Accordingly, we divided the motion planner into a global path planner and a local manipulation planner, designed them, and integrated them. The aim was to integrate a gross motion planner and a fine motion planner. Concerning the global path planner, we reduced the dimensions of the configuration space (C-space) using the feature of transportation by mobile robots. We used the potential field to find the solution by searching in this smaller-dimension reconstructed C-space. In the global path planner, the constraints of the object manipulation are considered as the cost function and the heuristic function in the A/sup */ search. For the local manipulation planner, we developed a manipulation technique, which is suitable for mobile robots by position control. We computed the conditions in which the object becomes unstable during manipulation and generated each robot's motion, considering the robots' motion errors and indefinite factors from the planning stage. We verified the effectiveness of our proposed motion planning method through simulations.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130770256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 168

Path planning with uncalibrated stereo rig for image-based visual servoing under large pose discrepancy 大位姿差异下基于图像的视觉伺服路径规划

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808861

Jae Seok Park, M. Chung

引用次数: 50

Simultaneous localization and map building for a team of cooperating robots: a set membership approach 协作机器人团队的同步定位和地图构建:集合成员方法

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808849

M. D. Marco, A. Garulli, Antonio Giannitrapani, A. Vicino

引用次数: 98

An integrated approach for product family and assembly system design 产品族与装配系统设计的集成方法

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808853

P. D. Lit, A. Delchambre, J. Henrioud

{"title":"An integrated approach for product family and assembly system design","authors":"P. D. Lit, A. Delchambre, J. Henrioud","doi":"10.1109/TRA.2003.808853","DOIUrl":"https://doi.org/10.1109/TRA.2003.808853","url":null,"abstract":"The main objective of the research presented in this paper was to develop a new philosophy for the design of a product family (PF) and its assembly system. Most methodologies usually do not consider the interactions between these two design processes. Moreover, most \"assembly-centered\" concurrent engineering approaches do not deal with PFs. A research project, called CISAL, was initiated in Belgium in the late nineties to tackle this problem. The proposed tool is intended to be applicable to PFs and hybrid assembly lines (presenting manual, robotic and automated operations). It is subdivided into three interacting main modules: preliminary design for assembly (DFA) and assembly planning (AP); detailed DFA and AP; and line layout. The whole methodology is articulated around the functional entities (FEns), resulting from a first-order decomposition of the PF and aiming at reducing the complexity inherent to the design of multivariant products. All tools presented take this decomposition into account and treat design issues related to each FEn separately, considering the PF as an assembly of FEns. This paper presents the framework of CISAL, and the underlying methodology is illustrated on an industrial case study.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124359987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 47

Automatic recalibration of an active structured light vision system 主动结构光视觉系统的自动重新校准

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808859

Youfu Li, Shengyong Chen

引用次数: 112

Robust scene reconstruction from an omnidirectional vision system 基于全方位视觉系统的鲁棒场景重建

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808850

R. Bunschoten, B. Kröse

引用次数: 115

State space modeling of dimensional variation propagation in multistage machining process using differential motion vectors 基于微分运动矢量的多级加工过程中尺寸变化传播的状态空间建模

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808852

Shiyu Zhou, Qiang Huang, Jianjun Shi

引用次数: 256

Forward model for sonar maps produced with the Polaroid ranging module 用宝丽来测距模块制作的声纳地图正演模型

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809586

R. Kuc

引用次数: 28

Cobot implementation of virtual paths and 3D virtual surfaces Cobot实现虚拟路径和3D虚拟曲面

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808866

C. Moore, M. Peshkin, J. Colgate

引用次数: 72