2022 7th International Conference on Control, Robotics and Cybernetics (CRC)最新文献_第2页

An EHGO-based Robust Control for Multi-agent Consensus With Unmeasured Velocity and Disturbances 具有不可测速度和干扰的基于ehgo的多智能体一致性鲁棒控制

2022 7th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2022-12-15 DOI: 10.1109/CRC55853.2022.10041234

Weihao Li, Mengji Shi, Jiangfeng Yue, Boxian Lin, Kaiyu Qin, Xinyu Zhang

引用次数: 0

Affective Brain-Computer Interface using Frontal Entropy Asymmetry for Human- Machine Interaction 基于正面熵不对称的人机交互情感脑机接口

2022 7th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2022-12-15 DOI: 10.1109/CRC55853.2022.10041230

Xuejie Liu, Lifeng You, Hongxi Li, Han Zhang

引用次数: 1

Multi-sensor Fused Localization Algorithm Based on Optimized Nearest Neighbor Search 基于最优近邻搜索的多传感器融合定位算法

2022 7th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2022-12-15 DOI: 10.1109/CRC55853.2022.10041201

Yuhui Cheng, R. Lin, Wei-wei Zhao

{"title":"Multi-sensor Fused Localization Algorithm Based on Optimized Nearest Neighbor Search","authors":"Yuhui Cheng, R. Lin, Wei-wei Zhao","doi":"10.1109/CRC55853.2022.10041201","DOIUrl":"https://doi.org/10.1109/CRC55853.2022.10041201","url":null,"abstract":"Fast and accurate localization of mobile robot is one of the most critical problems in its field, by which the robot can obtain information about its environment and track its poses. An optimized adaptive Monte Carlo localization (BBF_AMCL) based on a 2D raster map is proposed to solve the robot localization problem. The improved localization algorithm is based on 2D laser information, IMU, odometer, and cliff sensors for localization. First, the efficient nearest neighbor search technique is used to construct the likelihood domain map, which reduces the cost time to build the likelihood domain map and speeds up particle weight updating. Second, an expanded Kalman filter is utilized to combine data from the IMU and the odometer in order to increase a priori positioning accuracy, as well as to reduce the robot's judgment time for abduction by using cliff sensors to assess if abduction has happened, thus increasing real-time localization performance. When searching the nearest neighbor obstacle distance, the optimized nearest neighbor search algorithm will sort by the distance from the lookup point to the node's hyperplane, then continue to search the node with the highest priority, and when the set search time is exceeded, directly return the current nearest neighbor distance as the approximate nearest neighbor. Overall, the algorithm has significant improvement in the pre-processing localization phase and good accuracy improvement and time reduction in the real-time localization phase.","PeriodicalId":275933,"journal":{"name":"2022 7th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128651760","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

XMI-Based SysML Model Transformation 基于xml的SysML模型转换

2022 7th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2022-12-15 DOI: 10.1109/CRC55853.2022.10041202

Yupeng Li, Hailian Zhang, Jiyuan Lv, Yusheng Liu

引用次数: 1

Novel Cross-validity Criteria and Statistical Index in Non-Gaussian Space 非高斯空间中新的交叉效度准则与统计指标

2022 7th International Conference on Control, Robotics and Cybernetics (CRC) Pub Date : 2022-12-15 DOI: 10.1109/CRC55853.2022.10041238

Zhongyi Yang, Jinglin Zhou

引用次数: 0