Intelligence & Robotics最新文献_第5页

T-S fuzzy-model-based adaptive cruise control for longitudinal car-following considering vehicle lateral stability 考虑车辆横向稳定性的T-S模糊模型纵向跟随自适应巡航控制

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.26

Changzhu Zhang, Xiaoyu Wei, Zhuping Wang, Hao Zhang, Xuyang Guo

{"title":"T-S fuzzy-model-based adaptive cruise control for longitudinal car-following considering vehicle lateral stability","authors":"Changzhu Zhang, Xiaoyu Wei, Zhuping Wang, Hao Zhang, Xuyang Guo","doi":"10.20517/ir.2022.26","DOIUrl":"https://doi.org/10.20517/ir.2022.26","url":null,"abstract":"Adaptive cruise control is one of the essential technologies of advanced driver assistance systems, which is used to maintain a safe distance between an ego vehicle and a preceding vehicle and has been extensively applied in the automotive industry and control community. Note that some vehicle manoeuvres may approach handling limits to prevent collisions under complex road conditions, which often leads to vehicle lateral instability while cruising. In this study, a T-S fuzzy model predictive control framework is applied to the problem of adaptive cruise control. Variations in the preceding vehicle velocity and road surface conditions are considered to formulate adaptive cruise control as a tracking control problem of a T-S fuzzy system subject to parameter uncertainties and external persistent perturbations. Then, a robust positively invariant set is introduced to derive an admissible T-S fuzzy controller by solving a min-max optimization problem under a series of linear matrix inequality constraints. Finally, a CarSim/MATLAB joint simulation is conducted to illustrate the effectiveness of the proposed method, which ensures longitudinal adaptive cruise control for a car-following scenario with lateral vehicle stability.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121502036","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

An overview of intelligent image segmentation using active contour models 基于活动轮廓模型的智能图像分割综述

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.02

Yiyang Chen, Pengqiang Ge, Guina Wang, G. Weng, Hongtian Chen

{"title":"An overview of intelligent image segmentation using active contour models","authors":"Yiyang Chen, Pengqiang Ge, Guina Wang, G. Weng, Hongtian Chen","doi":"10.20517/ir.2023.02","DOIUrl":"https://doi.org/10.20517/ir.2023.02","url":null,"abstract":"The active contour model (ACM) approach in image segmentation is regarded as a research hotspot in the area of computer vision, which is widely applied in different kinds of applications in practice, such as medical image processing. The essence of ACM is to make use ofuse an enclosed and smooth curve to signify the target boundary, which is usually accomplished by minimizing the associated energy function by means ofthrough the standard descent method. This paper presents an overview of ACMs for handling image segmentation problems in various fields. It begins with an introduction briefly reviewing different ACMs with their pros and cons. Then, some basic knowledge in of the theory of ACMs is explained, and several popular ACMs in terms of three categories, including region-based ACMs, edge-based ACMs, and hybrid ACMs, are detailedly reviewed with their advantages and disadvantages. After that, twelve ACMs are chosen from the literature to conduct three sets of segmentation experiments to segment different kinds of images, and compare the segmentation efficiency and accuracy with different methods. Next, two deep learning-based algorithms are implemented to segment different types of images to compare segmentation results with several ACMs. Experimental results confirm some useful conclusions about their sharing strengths and weaknesses. Lastly, this paper points out some promising research directions that need to be further studied in the future.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126323677","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: 12

UAV maneuver decision-making via deep reinforcement learning for short-range air combat 基于深度强化学习的近程空战无人机机动决策

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.04

Zhiqiang Zheng, H. Duan

{"title":"UAV maneuver decision-making via deep reinforcement learning for short-range air combat","authors":"Zhiqiang Zheng, H. Duan","doi":"10.20517/ir.2023.04","DOIUrl":"https://doi.org/10.20517/ir.2023.04","url":null,"abstract":"The unmanned aerial vehicle (UAV) has been applied in unmanned air combat because of its flexibility and practicality. The short-range air combat situation is rapidly changing, and the UAV has to make the autonomous maneuver decision as quickly as possible. In this paper, a type of short-range air combat maneuver decision method based on deep reinforcement learning is proposed. Firstly, the combat environment, including UAV motion model and the position and velocity relationships, is described. On this basic, the combat process is established. Secondly, some improved points based on proximal policy optimization (PPO) are proposed to enhance the maneuver decision-making ability. The gate recurrent unit (GRU) can help PPO make decisions with continuous timestep data. The actor network's input is the observation of UAV, however, the input of the critic network, named state, includes the blood values which cannot be observed directly. In addition, the action space with 15 basic actions and well-designed reward function are proposed to combine the air combat environment and PPO. In particular, the reward function is divided into dense reward, event reward and end-game reward to ensure the training feasibility. The training process is composed of three phases to shorten the training time. Finally, the designed maneuver decision method is verified through the ablation study and confrontment tests. The results show that the UAV with the proposed maneuver decision method can obtain an effective action policy to make a more flexible decision in air combat.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132827622","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: 1

Facial expression recognition using adapted residual based deep neural network 基于自适应残差的深度神经网络面部表情识别

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2021.16

I. Bah, Yu-Zhi Xue

引用次数: 9

ChatGPT in connected and autonomous vehicles: benefits and challenges 联网和自动驾驶汽车中的聊天技术:优势与挑战

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.08

Lei Lei, Hao Zhang, Simon X. Yang

引用次数: 4

An improved ViBe-based approach for moving object detection 一种改进的基于vibe的运动物体检测方法

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.07

Guangyi Tang, J. Ni, P. Shi, Yingqi Li, Jinxiu Zhu

引用次数: 0

Formation control of multiple autonomous underwater vehicles: a review 多自主水下航行器编队控制研究进展

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.01

T. Yan, Zhe Xu, Simon X. Yang, S. Gadsden

引用次数: 4

Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach 康复外骨骼人体步态跟踪:自适应分数阶滑模控制方法

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2023.05

Yuan Zhou, Zhe Sun, Bo Chen, Guangpu Huang, Xiang Wu, Tian Wang

{"title":"Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach","authors":"Yuan Zhou, Zhe Sun, Bo Chen, Guangpu Huang, Xiang Wu, Tian Wang","doi":"10.20517/ir.2023.05","DOIUrl":"https://doi.org/10.20517/ir.2023.05","url":null,"abstract":"To improve the rehabilitation training effect of hemiplegic patients, in this paper, a discrete adaptive fractional order fast terminal sliding mode control approach is proposed for the lower limb exoskeleton system to implement high-precision human gait tracking tasks. Firstly, a discrete dynamic model is established based on the Lagrange system discretization criterion for the lower limb exoskeleton robot. Then, in order to design a discrete adaptive fractional order fast terminal sliding mode controller, the Grünwald–Letnikov fractional order operator is introduced to combine with fast terminal attractor to construct a fractional order fast terminal sliding surface. An adaptive parameter adjustment strategy is proposed for the reaching law of sliding mode control, which drives the sliding mode to the stable region dynamically. Moreover, the stability of the control system is proved in the sense of Lyapunov, and the guidelines for selecting the control parameters are given. Finally, the simulations are tested on the MATLAB-Opensim co-simulation platform. Compared with the conventional discrete sliding mode control and discrete fast terminal sliding mode control, the results verify the superiority of the proposed method in improving lower limb rehabilitation training.","PeriodicalId":426514,"journal":{"name":"Intelligence & Robotics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123277199","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

Unmanned aerial vehicle with handover management fuzzy system for 5G networks: challenges and perspectives 基于5G网络的无人机切换管理模糊系统:挑战与展望

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2021.07

Thalita Ayass, Thiago Coqueiro, Tássio Carvalho, José Jailton, Jasmine Araújo, Renato Francês

引用次数: 5

Networked scheduling for decentralized load frequency control 分散负荷频率控制的网络化调度

Intelligence & Robotics Pub Date : 1900-01-01 DOI: 10.20517/ir.2022.27

Chen Peng, H. Yang

引用次数: 0

Intelligence &amp; Robotics最新文献

Intelligence & Robotics最新文献