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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91最新文献

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Physical modeling as a help for planning the motions of a land vehicle 物理建模有助于规划陆地车辆的运动
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174715
S. Jimenez, Annie Luciani, C. Laugier
{"title":"Physical modeling as a help for planning the motions of a land vehicle","authors":"S. Jimenez, Annie Luciani, C. Laugier","doi":"10.1109/IROS.1991.174715","DOIUrl":"https://doi.org/10.1109/IROS.1991.174715","url":null,"abstract":"Deals with the problem of planning the motions of a complex land vehicle moving in a natural environment. The contribution presented is a motion generator which predicts the dynamic behaviour of the vehicle when executing a given nominal motion plan. This plan is expressed in terms of a channel to follow and of a set of intermediate subgoals to reach. Solving this motion generation problem requires to explicitly reason about the geometric and the physical aspects of the movements that the vehicle has to execute. In the authors' approach, this is done using two basic constructions derived from the concept of physical model: the 'generalized obstacles' are used for physically guiding the movements of the vehicle using an explicit model of the vehicle/terrain interactions, and the 'physical targets' are used to map the strategic information onto the physical representation of the world.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"162 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131745624","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: 17
Vehicle command system and trajectory control for autonomous mobile robots 自主移动机器人车辆指挥系统与轨迹控制
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174452
S. Iida, S. Yuta
{"title":"Vehicle command system and trajectory control for autonomous mobile robots","authors":"S. Iida, S. Yuta","doi":"10.1109/IROS.1991.174452","DOIUrl":"https://doi.org/10.1109/IROS.1991.174452","url":null,"abstract":"A vehicle command system for the wheeled autonomous mobile robot with a high capability in describing the navigation task in the real environment, is proposed. And a feedback control method to track along the given path by the vehicle commands is described. The effectiveness of the proposed vehicle command system and the trajectory control method are confirmed by numerical simulations and experiments in the real environment using a self-contained autonomous mobile robot.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"2012 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131795473","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: 83
Advanced design methods and tools for mobile robot development 移动机器人开发的先进设计方法和工具
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174721
J. Kaikkonen, T. Mäkeläinen, H. Hakala
{"title":"Advanced design methods and tools for mobile robot development","authors":"J. Kaikkonen, T. Mäkeläinen, H. Hakala","doi":"10.1109/IROS.1991.174721","DOIUrl":"https://doi.org/10.1109/IROS.1991.174721","url":null,"abstract":"Development of mobile robots is a very difficult and time consuming task. If good development tools were available the development work would be more productive and products would be more reliable. The authors present an efficient design approach for wheeled mobile robot development and give an overall description of tools, which are useful during the development cycle. The problem is divided into several parts: control software, at high and low level; electronics, divided into digital, analogue and power; mechanics, actuators; and sensors.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123089911","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
Apparent structural stiffness of closed mechanisms under the effect of internal forces during dynamic motion 封闭机构在动力运动中内力作用下的结构表观刚度
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174575
M. Adli, K. Nagai, K. Miyata, H. Hanafusa
{"title":"Apparent structural stiffness of closed mechanisms under the effect of internal forces during dynamic motion","authors":"M. Adli, K. Nagai, K. Miyata, H. Hanafusa","doi":"10.1109/IROS.1991.174575","DOIUrl":"https://doi.org/10.1109/IROS.1991.174575","url":null,"abstract":"When a mechanism is overconstrained it leads to the generation of internal forces. These forces do no work but have an effect on the apparent structural stiffness of the mechanisms. The degree of this effect depends on the magnitude or the mode of the internal forces and the geometry of the mechanisms. Internal forces may result from external or gravitational forces or the inertial loads during motion. If a mechanism has a closed chain structure, the redundant actuation may generate internal forces as well. -. . 'o The authors analyse the apparent structural stiffness of the closed mechanisms due to redundant actuation and the forces arising during dynamic motion.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116467166","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 topological study of robot free configuration space 机器人自由位形空间的拓扑研究
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174537
K. Sun, V. Lumelsky
{"title":"A topological study of robot free configuration space","authors":"K. Sun, V. Lumelsky","doi":"10.1109/IROS.1991.174537","DOIUrl":"https://doi.org/10.1109/IROS.1991.174537","url":null,"abstract":"Studies the topology of the free configuration space (FCS) of any robot that consists of one or more connected rigid bodies and operates in an environment with obstacles. It is shown that if a certain unrestrictive robot-obstacle spatial relationship is satisfied, then FCS is uniformly locally connected (ULC). Conditions are derived under which the FCS boundary presents a manifold. Although the ULC property is not sufficient for the general case, it is shown that for the two-dimensional (2D) case the ULC property guarantees that FCS is bounded by simple curves. This result provides an effective tool for reducing the robot motion problem to the analysis of simple closed curves in the robot configuration space.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129566919","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
Fully distributed traffic control strategies for many-AGV systems 多agv系统的全分布式交通控制策略
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174662
Jing Wang
{"title":"Fully distributed traffic control strategies for many-AGV systems","authors":"Jing Wang","doi":"10.1109/IROS.1991.174662","DOIUrl":"https://doi.org/10.1109/IROS.1991.174662","url":null,"abstract":"A model for studying fully distributed traffic control strategies for many-AGV systems in an operating field of a network of stations and passages is proposed. As a basic operating primitive, distributed mutual exclusion on a resource of capacity M (0<M<or=N, where N is the number of potential competitors) under this model is presented along with an algorithm that solves the fully distributed traffic control problem for a special case, where the capacity of stations is infinity . Research problems in such a system including deadlock detection and deadlock resolution are also discussed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130284026","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: 27
Development of a hexapod walking robot: 'Hexax-I' 六足步行机器人“Hexax-I”的研制
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174732
Hisato Kobayashi, K. Inagaki
{"title":"Development of a hexapod walking robot: 'Hexax-I'","authors":"Hisato Kobayashi, K. Inagaki","doi":"10.1109/IROS.1991.174732","DOIUrl":"https://doi.org/10.1109/IROS.1991.174732","url":null,"abstract":"This paper describes a hexapod walking robot named Hexax-I, which was developed for transportation in unstructured environments. In general, walking robots have poor energy efficiency due to their walking mechanisms. The authors propose a power system which consists of a gasoline engine and computer-controlled electromagnetic clutches and brakes. Gasoline engines have an excellent weight-to-power ratio in comparison with DC-motors. The authors propose a method of circular walking using the interaction between the steering and the propulsion. The driving systems of the propulsion and of the steering are shared. The robot is therefore lightweight because the steering actuators are left out, and so a high power-to-weight ratio is achieved. A simple control method for steering the legs by utilizing this special structure is also proposed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125743984","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: 10
Motion planning for non-holonomic industrial robot vehicles 非完整工业机器人车辆的运动规划
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174676
T. Hague, S. Cameron
{"title":"Motion planning for non-holonomic industrial robot vehicles","authors":"T. Hague, S. Cameron","doi":"10.1109/IROS.1991.174676","DOIUrl":"https://doi.org/10.1109/IROS.1991.174676","url":null,"abstract":"The problem of planning collision free motions for industrial robot vehicles is considered. The systems presently in use are rather inflexible, the vehicle being rigidly constrained to follow a set of manually derived paths. Such systems are not easily or quickly reconfigurable, nor are they equipped to respond to the presence of unexpected obstacles or variations in object locations. In the hybrid motion control system presented, paths are computed from a routemap of the environment, automatically derived from geometric data. These paths are then followed by the vehicle under the control of a path execution module which utilises an artificial potential field based approach to avoid unexpected obstacles.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133855570","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: 13
Describing moving spherical obstacle in a configuration space 描述位形空间中移动的球形障碍物
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174540
Isao Hara, T. Nagata
{"title":"Describing moving spherical obstacle in a configuration space","authors":"Isao Hara, T. Nagata","doi":"10.1109/IROS.1991.174540","DOIUrl":"https://doi.org/10.1109/IROS.1991.174540","url":null,"abstract":"A way of parameterizing a spherical obstacle in the configuration space (C-Space) and the properties of a moving spherical obstacle are described. A spherical obstacle in a work space (W-Space) is transformed into a characteristic region in C-Space, and can be approximated as a set of geometric objects. The transformation of a complex work space into C-Space is described in terms of unifying the transformation of each element of a set of spheres. A collision-free path is made by using a penalty-function-method. for a moving spherical obstacle in the work space, the penalty-function is modified according to the factors of the velocity along axes in polar coordinates system. Simulation results are presented for the case of two manipulators in W-Space.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134032591","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: 2
Mobile robot self-location using constrained search 基于约束搜索的移动机器人自定位
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI: 10.1109/IROS.1991.174601
R. Talluri, J. Aggarwal
{"title":"Mobile robot self-location using constrained search","authors":"R. Talluri, J. Aggarwal","doi":"10.1109/IROS.1991.174601","DOIUrl":"https://doi.org/10.1109/IROS.1991.174601","url":null,"abstract":"Presents a technique for estimating the position and pose of an autonomous mobile robot navigating in an outdoor, urban environment consisting of polyhedral buildings. The 3D descriptions of the rooftops of the buildings are assumed to be given as a world model. The robot is assumed to be equipped with a visual camera. The position and pose are estimated by establishing a correspondence between the lines that constitute the rooftops of the buildings (world model features) and their images. A constrained search paradigm is used to isolate a consistent set of correspondences. The geometric constraints between the world model features and their images are used to prune the search space. To effectively capture the geometric relations between the world model features with respect to their visibility from various positions of the robot in the plane in which it navigates (visibility plane), the free space of the robot is partitioned into a set of distinct, nonoverlapping regions called the edge visibility regions (EVRs). The use of these EVRs in isolating a consistent set of correspondences between the world model and the image features is discussed.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130750018","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
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