自主智能系统(英文)最新文献_第8页

Model predictive control for autonomous ground vehicles: a review 自主地面车辆模型预测控制研究综述

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00005-z

Shuyou Yu, Matthias Hirche, Yanjun Huang, Hong Chen, Frank Allgöwer

{"title":"Model predictive control for autonomous ground vehicles: a review","authors":"Shuyou Yu, Matthias Hirche, Yanjun Huang, Hong Chen, Frank Allgöwer","doi":"10.1007/s43684-021-00005-z","DOIUrl":"10.1007/s43684-021-00005-z","url":null,"abstract":"<div><p>This paper reviews model predictive control (MPC) and its wide applications to both single and multiple autonomous ground vehicles (AGVs). On one hand, MPC is a well-established optimal control method, which uses the predicted future information to optimize the control actions while explicitly considering constraints. On the other hand, AGVs are able to make forecasts and adapt their decisions in uncertain environments. Therefore, because of the nature of MPC and the requirements of AGVs, it is intuitive to apply MPC algorithms to AGVs. AGVs are interesting not only for considering them alone, which requires centralized control approaches, but also as groups of AGVs that interact and communicate with each other and have their own controller onboard. This calls for distributed control solutions. First, a short introduction into the basic theoretical background of centralized and distributed MPC is given. Then, it comprehensively reviews MPC applications for both single and multiple AGVs. Finally, the paper highlights existing issues and future research directions, which will promote the development of MPC schemes with high performance in AGVs.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00005-z.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49502742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Editorial-Autonomous Intelligent Systems 自主智能系统

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00006-y

Jie Chen

引用次数: 0

Lessons from human vision for robotic design 人类视觉对机器人设计的启示

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00002-2

Melvyn A. Goodale

{"title":"Lessons from human vision for robotic design","authors":"Melvyn A. Goodale","doi":"10.1007/s43684-021-00002-2","DOIUrl":"10.1007/s43684-021-00002-2","url":null,"abstract":"<div><p>The visual guidance of goal-directed movements requires transformations of incoming visual information that are different from those required for visual perception. For us to grasp an object successfully, our brain must use just-in-time computations of the object’s real-world size and shape, and its orientation and disposition with respect to our hand. These requirements have led to the emergence of dedicated visuomotor modules in the posterior parietal cortex of the human brain (the dorsal visual stream) that are functionally distinct from networks in the occipito-temporal cortex (the ventral visual stream) that mediate our conscious perception of the world. Although the identification and selection of goal objects and an appropriate course of action depends on the perceptual machinery of the ventral stream and associated cognitive modules, the execution of the subsequent goal-directed action is mediated by dedicated online control systems in the dorsal stream and associated motor areas. The dorsal stream allows an observer to reach out and grasp objects with exquisite ease, but by itself, deals only with objects that are visible at the moment the action is being programmed. The ventral stream, however, allows an observer to escape the present and bring to bear information from the past – including information about the function of objects, their intrinsic properties, and their location with reference to other objects in the world. Ultimately then, both streams contribute to the production of goal-directed actions. The principles underlying this division of labour between the dorsal and ventral streams are relevant to the design and implementation of autonomous robotic systems.</p></div>","PeriodicalId":71187,"journal":{"name":"自主智能系统(英文)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s43684-021-00002-2.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43531220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Distributed dynamic stochastic approximation algorithm over time-varying networks 时变网络上的分布式动态随机逼近算法

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00003-1

Kewei Fu, Han-Fu Chen, Wenxiao Zhao

引用次数: 0

Online distributed tracking of generalized Nash equilibrium on physical networks 物理网络上广义纳什均衡的在线分布式跟踪

自主智能系统(英文) Pub Date : 2021-08-17 DOI: 10.1007/s43684-021-00004-0

Yifan Su, Feng Liu, Zhaojian Wang, Shengwei Mei, Qiang Lu

引用次数: 0

Smart level sensor based on thermal resistance measurement with self calibration 基于热阻测量的智能液位传感器，具有自校准功能

自主智能系统(英文) Pub Date : 2010-06-21 DOI: 10.1109/AIS.2010.5547040

L. Umar