2014 IEEE International Symposium on Intelligent Control (ISIC)最新文献_第3页

Remote path planning and motion control of mobile robot within indoor maze environment 室内迷宫环境下移动机器人的远程路径规划与运动控制

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967625

Kemal Lutvica, J. Velagić, Nihad Kadic, N. Osmic, Gregor Dzampo, Hajrudin Muminovic

{"title":"Remote path planning and motion control of mobile robot within indoor maze environment","authors":"Kemal Lutvica, J. Velagić, Nihad Kadic, N. Osmic, Gregor Dzampo, Hajrudin Muminovic","doi":"10.1109/ISIC.2014.6967625","DOIUrl":"https://doi.org/10.1109/ISIC.2014.6967625","url":null,"abstract":"The paper proposes a wireless navigation mobile robot system for both path planning and trajectory execution within an indoor maze environment. This system consists of the mobile robot, trajectory planner, motion controller, visual sensor (CCD camera), ZigBee wireless communication device and a maze terrain. The camera is used to capture images of the mobile robot within the maze. Developed image processing and analyzing algorithms determine the robot's position and orientation based on color markers recognition. Markers are mounted on the top of the robot. Based on this data the implemented navigation system calculates a trajectory for the mobile robot from a starting point to a target point. The proposed navigation system is an upgrade to our previously developed system. Maze encryption and motion planning modules have been added to the previous system. Breadth First Search (BFS) and modified Depth First Search (DFS) algorithms were used for the trajectory calculation. A developed control algorithm calculates control signals in real time. These signals are sent to the robot via modules for wireless communication, causing robot motion along the calculated trajectory and eventually, the completion of the trajectory. The whole control system is realized and experimental results have been obtained. The experimental results confirm the robustness and effectiveness of the implemented control system.","PeriodicalId":309111,"journal":{"name":"2014 IEEE International Symposium on Intelligent Control (ISIC)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126918428","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: 11

A flexible virtual structure formation keeping control design for nonholonomic mobile robots with low-level control systems, with experiments 基于底层控制系统的非完整移动机器人柔性虚拟结构保持控制设计，并进行了实验

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967622

C. B. Low

{"title":"A flexible virtual structure formation keeping control design for nonholonomic mobile robots with low-level control systems, with experiments","authors":"C. B. Low","doi":"10.1109/ISIC.2014.6967622","DOIUrl":"https://doi.org/10.1109/ISIC.2014.6967622","url":null,"abstract":"This paper presents a flexible virtual structure formation keeping control design for nonholonomic mobile robots that are driven by low-level velocities control systems that possess non-trivial dynamical effects. The formation is flexible in the sense that the formation configuration is defined based on a set of curvilinear relative separations instead of commonly used rectilinear relative separations. The main contribution of this work is the use of a novel concept of formation reference generation to compute accurate formation reference pose in real-time based on curvilinear relative separation coordinates along the virtual formation leader trajectory. Another contribution of this work is the application of a recently developed trajectory tracking control scheme, which enables the considered mobile robots to track their formation reference poses stably when executing the formation maneuvers. This formation control scheme allows a virtual formation leader to guide the formation of mobile robots flexibly in an environment to carry out its formation navigation tasks. The formation control performance was validated in both simulations and experimentations. Field trials were conducted in some off-road environments at speeds up to 4m/sec to validate the control design. The scheme was implemented on a full-sized nonholonomic tracked vehicle, following a virtual leader in formation. The obtained simulations and experimental results confirm the effectiveness of the proposed formation control scheme.","PeriodicalId":309111,"journal":{"name":"2014 IEEE International Symposium on Intelligent Control (ISIC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128737332","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: 24

Optimality of consensus protocols for multi-agent systems with interaction 具有交互的多智能体系统共识协议的最优性

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967600

Hirotaka Katsuura, Y. Fujisaki

引用次数: 4

Multi-robot charged system search-based optimal path planning in static environments 静态环境下基于搜索的多机器人充电系统最优路径规划

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967643

R. Precup, E. Petriu, L. Fedorovici, M. Radac, Florin Dragan

引用次数: 7

Neural network dynamic progamming constrained control of distributed parameter systems governed by parabolic partial differential equations with application to diffusion-reaction processes 抛物型偏微分方程下分布参数系统的神经网络动态规划约束控制及其在扩散反应过程中的应用

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967634

B. Talaei, Hao Xu, S. Jagannathan

{"title":"Neural network dynamic progamming constrained control of distributed parameter systems governed by parabolic partial differential equations with application to diffusion-reaction processes","authors":"B. Talaei, Hao Xu, S. Jagannathan","doi":"10.1109/ISIC.2014.6967634","DOIUrl":"https://doi.org/10.1109/ISIC.2014.6967634","url":null,"abstract":"In this paper, a novel neural network (NN) adaptive dynamic programming (ADP) control scheme for distributed parameter systems (DPS) governed by parabolic partial differential equations (PDE) is introduced in the presence of control constraints and unknown system dynamics. First, Galerkin method is utilized to develop a relevant reduced order system which captures the dominant dynamics of the DPS. Subsequently, a novel control scheme is proposed over finite horizon by using NN ADP. To relax the requirement of system dynamics, a novel NN identifier is developed. More-over, a second NN is proposed to estimate online the time-varying non-quadratic value function from the Hamilton-Jacobi-Bellman (HJB) equation. Subsequently, by using the identifier and the value function estimator, the optimal control input that inherently lies in actuation limits is obtained. A local uniform ultimate boundedness (UUB) of the closed-loop system is verified by using standard Lyapunov theory. The performance of proposed control scheme and effects of its design parameters are successfully verified by simulation on a diffusion reaction process.","PeriodicalId":309111,"journal":{"name":"2014 IEEE International Symposium on Intelligent Control (ISIC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123232565","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: 7

Discrete Cuckoo Search algorithm for job shop scheduling problem 离散布谷鸟搜索算法求解作业车间调度问题

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967636

Aziz Ouaarab, B. Ahiod, Xin-She Yang, M. Abbad

引用次数: 18

Robust adaptive dynamic programming for continuous-time linear stochastic systems 连续时间线性随机系统的鲁棒自适应动态规划

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967601

T. Bian, Zhong-Ping Jiang

引用次数: 5

Supervisory system identification for bilinear systems with application to thermal dynamics in buildings 双线性系统的监控系统辨识及其在建筑热动力学中的应用

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967608

Georgios C. Chasparis, T. Natschläger

{"title":"Supervisory system identification for bilinear systems with application to thermal dynamics in buildings","authors":"Georgios C. Chasparis, T. Natschläger","doi":"10.1109/ISIC.2014.6967608","DOIUrl":"https://doi.org/10.1109/ISIC.2014.6967608","url":null,"abstract":"When system identification is performed online and predictions of the system response are requested often (as in model predictive control formulations), the identification model with the best performance may not be fixed with time. Besides, more accurate models may require larger training times compared to low-order linear models. This is particularly evident in thermal dynamics in buildings where operating conditions may change throughout the year. To this end, this paper introduces a supervisory identification process, tailored specifically for input-output stable bilinear systems, where two parallel decision processes run periodically. The first one is concerned with the selection of the appropriate partition of the input(s) domain, while the second one is concerned with the selection of the identification model for each one of the resulting partition sets. The overall identification model constitutes a switched system. We show analytically that the proposed scheme is adaptive and robust to changes in the performance of the identification models, while convergence is attained (in probability) to the best model.","PeriodicalId":309111,"journal":{"name":"2014 IEEE International Symposium on Intelligent Control (ISIC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131639977","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: 3

A new velocity observer for a class of double integrator dynamics 一类二重积分动力学的新速度观测器

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967629

H. Ahn, Young-Cheol Choi, Kwang‐Kyo Oh

引用次数: 2

A static obstacle collision mitigation control scheme for flexible formation of nonholonomic mobile robots, with experiments 一种柔性编队非完整移动机器人的静态障碍碰撞缓解控制方案，并附有实验

2014 IEEE International Symposium on Intelligent Control (ISIC) Pub Date : 2014-12-01 DOI: 10.1109/ISIC.2014.6967624

C. B. Low, Y. Yeo

引用次数: 1