International Journal of Robotics and Automation Technology最新文献

筛选

英文中文

A Consistent and Long-term Mapping Approach for Navigation 用于导航的一致且长期的映射方法

International Journal of Robotics and Automation Technology Pub Date : 2018-08-10 DOI: 10.31875/2409-9694.2018.05.4

Handuo Zhang, Hasith Karunasekera, Han Wang

{"title":"A Consistent and Long-term Mapping Approach for Navigation","authors":"Handuo Zhang, Hasith Karunasekera, Han Wang","doi":"10.31875/2409-9694.2018.05.4","DOIUrl":"https://doi.org/10.31875/2409-9694.2018.05.4","url":null,"abstract":"The construction and maintenance of a robocentric map is key to high-level mobile robotic tasks like path planning and smart navigation. But the challenge of dynamic environment and huge amount of dense sensor data makes it hard to be implemented in a real-world application for long-term use. In this paper we present a novel mapping approach by incorporating semantic cuboid object detection and multi-view geometry information. The proposed system can precisely describe the incremental 3D environment in real-time and maintain a long-term map by extracting out moving objects. The representation of the map is a collection of sub-volumes which can be utilized to perform pose graph optimization to address the challenge of building a consistent and scalable map. These sub-volumes are first aligned by localization module and refined by fusing the active volumes using co-visible graph. With the proposed framework we can obtain the object-level constraints and propose a consistent obstacle mapping system combining multi-view geometry with obstacle detection to obtain robust static map in a complex environment. Public dataset and self-collected data demonstrate the efficiency and consistency of our proposed approach.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121677285","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: 0

Robust QFT-Based Position Control of an Asymmetric Hydraulic Cylinder Electro-hydraulic Servo System 基于qft的非对称液压缸电液伺服系统鲁棒位置控制

International Journal of Robotics and Automation Technology Pub Date : 2018-08-10 DOI: 10.31875/2409-9694.2018.05.1

Hongbo Guo

{"title":"Robust QFT-Based Position Control of an Asymmetric Hydraulic Cylinder Electro-hydraulic Servo System","authors":"Hongbo Guo","doi":"10.31875/2409-9694.2018.05.1","DOIUrl":"https://doi.org/10.31875/2409-9694.2018.05.1","url":null,"abstract":"This paper presents the design of a robust controller using the Quantitative Feedback Theory technique for an asymmetric hydraulic cylinder electro-hydraulic servo system based upon a linear, parametrically uncertain model in which some of the uncertainties reflect the variation of the parameters, and taking the external disturbance into account. After the derivation of a realistic nonlinear differential equations model, the linearized plant transfer function model is developed. The effects of parametric uncertainty are accounted for. In this paper, the tracking performance index and disturbance attenuation performance index are transformed into the constraints of the parametrically uncertain sensitivity functions respectively using the sensitivity-based QFT technique. From this point, the QFT design procedure is carried out to design a feasible robust controller that satisfies performance specifications for tracking and disturbance rejection. A nonlinear closed-loop system response is simulated using the designed controller. The results show that the robust stability against system uncertainties is achieved and the robust performances are also satisfied.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116282089","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: 0

Establishment of Body Auto Fitting Model “BAFM” Using “NJ-GPM” At Toyota 用NJ-GPM建立丰田车身汽车装配模型“BAFM”

International Journal of Robotics and Automation Technology Pub Date : 2013-03-01 DOI: 10.31875/2409-9694.2021.08.7

H. Sakai, K. Amasaka

引用次数: 0

首页上一页