车辆导航系统最优路径规划研究

最优路径规划是车辆导航系统中的关键技术之一,它提出了一种基于遗传算法的车辆路径规划方法.采用变长度整数编码的染色体表示路径,设计了适合于最优车辆路径问题求解的遗传算子,给出了适应度调整函数.试验结果表明,遗传算法较好的满足了车辆导航系统实时性和实用性的要求.     

Cognitive Mapping and Planning for Visual Navigation

International Journal of Computer Vision - We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a...     

Real-Time Motion Planning for a Volleyball Robot Task Based on a Multi-Agent Technique

This paper takes the volleyball robot task as an example of a dynamic manipulation task and presents a multi-agent-based motion-planning framework for it. Each subtask in the motion planning is defined as an agent. The motion planning is accomplished by the solution of each agent activated by a blackboard. It is convenient to extend the module and enable real-time control compared to the hierarchy and subsumption architecture. In the solution of each subtask, one difference from the motion planning of other ball-playing robots is that simple fuzzy rules are adopted to determine the hitting position, which leads to smaller hitting velocities beneficial for task control. The other difference is that the task-based directional manipulability measure (TDMM) is used to optimize the robot configuration on the basis of optimal hitting path, so as to improve the manipulating ability on task direction. The simulation of a planar three-link manipulator ball-hitting task is implemented by the MATLAB/Simulink tool. The virtual target of the hitting motion is validated on the ABB manipulator by the ball-catching experiment.     

真航向测量系统接口箱实时任务调度

实时性是工业控制和军事应用的关键。文章分析了某型潜艇真航向测量系统的接口箱硬件特点及相应的软件要求。在接口箱系统的单任务操作系统下,需要一种任务调度策略来实现多任务实时性。所以在此前提下,文章对常规的RM调度和EDF调度策略进行了分析研究,设计实现了一种在接口箱的单任务弱实时操作系统下,可以进行多任务动态实时调度的策略。该策略结合RM和EDF两种方法的特点,既考虑到任务的频度,同时兼顾任务的重要程度,接口箱的工程实践证明了该方法的合理性、有效性。     

公路智能车辆视觉辅助导航系统的研究

自主驾驶与辅助导航是目前智能计算机领域研究的一个热点.文章研究了一个简单,易行的公路智能车辆视觉系统,这个视觉系统的输入视频图像是由安装在行驶于高速公路上车辆前方的摄像机所采集的路面状况的长序列图像.算法的核心是解决基于卡尔曼滤波的车道线和运动目标的检测与跟踪问题.     

基于任务分解的机器人路径规划导航

介绍一种基于目标分解的机器人导航系统,机器人通过激光或声纳传感器获得地图信息,并以此为基础,系统控制机器人按照事先规划路径的分解任务导航,最终利用视觉传感器发现目标球并加以捕获。分析仿真和实际环境实验数据存在差异的原因,证明系统实现了预期目标。     

成像卫星任务规划可视化仿真系统实现技术

对成像卫星任务规划的方案进行可视化仿真分析,是确保成像卫星任务规划的可靠性和高效益的有效途径。本文在分析成像卫星任务规划的可视化仿真特性、建模特性、数据处理技术等的基础上,设计了一种适合于成像卫星任务规划的可视化仿真系统。该系统基于GIS设计了任务规划二维规划视图,在STK基础上构建了任务规划三维视景仿真分析环境。同时,建立了资源库,对仿真的场景、模型资源进行有效管理。该系统已成功应用于某卫星任务规划系统,提高了成像卫星任务规划的效率。     

基于等效网络的车辆导航系统路线规划算法

在实际交通行为中,不可避免地存在着交叉口时间延迟,而且交通管制信息如交叉口转向限制也普遍存在,这些交通特征使得常规的最短路算法难以满足车辆导航系统路线规划的要求。提出基于“节点-弧段-特征”的数据结构存储方案,能够完整描述路网的平面拓扑和交通特征属性;针对具有交叉口转向限制和交叉口延迟等特征的交通网络,首先采用对偶图方法构造等效网络,在等效网络中采用常规的最短路算法计算最优路线,然后将它转化为原道路网中的行车路线。试验证明这种方法能够有效解决包含交通特征的车辆导航系统路线规划问题.     

Real-Time Seam Tracking Technology of Welding Robot with Visual Sensing

A seam tracking system with visual sensing free from calibration was developed for the robot applied in gas tungsten arc welding. A visual sensor with double-layer filter system was researched for the different levels of the welding current. An image processing in C+?+ language was developed to extract the seam trajectory and the offset of the torch to the seam in the welding images of aluminum alloys plates with grooves. The rectifying rule of the robot used in this paper was found based on the experimental data, and the seam tracking controller was also analyzed and constructed. The experimental results on straight line seam and curve seam demonstrated the efficiency of the proposal seam tracking system.     

Specialized Hardware for Real-Time Navigation

In this paper we propose a specialized hardware architecture for the real time visual navigation of a mobile robot. The adopted navigation method is based on a two-steps approach. Features are extracted and matched over an image sequence which is captured by a video-camera (mounted on a mobile robot) during its motion. As a result, a 2D motion field is recovered and used to extract ego-motion parameters. Our hardware implements the first step of the method, which consists of feature extraction and raw match computation by means of radiometric similarity computation. Real time performances are allowed since a 40 MHz processing rate is achieved.     

卫星任务规划可视化仿真系统设计与实现

解决卫星任务规划方案正确性、可靠性问题的有效途径是建立可视化仿真分析环境,研究多星多地面站任务规划问题,设计了成像需求约束图模型,利用任务规划调度算法进行优化分析生成最优解决方案,同时研究利用基于MapX的地理信息系统功能,设计实现了卫星任务规划可视化仿真系统,实现了二维视景仿真、方案动作仿真以及可视化决策支持等功能.该系统为卫星任务规划的可视化决策、可视化仿真提供了基础,确保了其正确、可靠性.     

Application of a Service Climbing Robot with Motion Planning and Visual Sensing

This paper describes an application of a service climbing robot aimed to clean the glass wall of high‐rise buildings. The robot utilizes suction cups to adhere to the glass and moves with a translational mechanism to follow a predetermined path in cleaning the whole glass surface. By a flexible waist, the robot can adjust its posture. The robot has the ability to cross the window frame to clean different sections of the glass wall. A visual sensing system, composed of an omnidirectional CCD camera and two laser diodes, enables the robot to measure its orientation and the distance between the robot and the window frame. The real‐time applications and some experimental results demonstrate the effectiveness of the developed system. © 2003 Wiley Periodicals, Inc.     

路径规划算法的改进及在车载导航中的应用

路径规划算法是车载导航的核心问题。充分利用启发式搜索具有方向性的启发信息,对A＊算法进行改进,采用双向的A＊算法来避免过多的节点搜索和搜索过界,不能得到正确结果的问题。同时,为了适合嵌入式平台的特殊环境,采用数据分层,搜索过程升层的方法,充分利用内存资源,减少外存I/O的工作量。并且结合上述策略,给出了改进的算法伪代码流程并对改进的A＊算法的进行验证。     

实时图像匹配辅助无人机导航研究

针对GPS/INS组合导航系统在抗干扰性和精度上不能完全满足无人机导航系统要求的问题,利用实时图像匹配辅助无人机导航的方法进行仿真研究.首先,对输入图像进行目标识别定位,为了满足系统的实时性要求,研究采用光电混合联合变换相关器进行实时图像匹配,仿真结果表明,目标的识别定位精度小于两个像素,能够为无人机提供精确的导航信息;再根据摄影测量原理计算导航信息中的位置和姿态角信息;最后,将匹配定位得到的导航信息通过Kalman滤波器与惯导系统解算的导航信息进行信息融合,仿真结果表明,滤波后导航信息的误差均获得了较明显的收敛,提高了无人机导航系统的抗干扰性和导航精度.     

Visual Recommendations for Network Navigation

Understanding large, complex networks is important for many critical tasks, including decision making, process optimization, and threat detection. Existing network analysis tools often lack intuitive interfaces to support the exploration of large scale data. We present a visual recommendation system to help guide users during navigation of network data. Collaborative filtering, similarity metrics, and relative importance are used to generate recommendations of potentially significant nodes for users to explore. In addition, graph layout and node visibility are adjusted in real‐time to accommodate recommendation display and to reduce visual clutter. Case studies are presented to show how our design can improve network exploration.     

基于遗传神经网络的车辆导航路径规划

研究使用混合 GA-BP 神经网络算法来解决交通路径规划中的非线性问题。反向传播(Back-Propagation, BP)神经网络虽然能够很好地解决非线性问题,但它存在着容易陷入局部极小的不足,而遗传算法(Genetic Algorithm, GA)具有很强的宏观搜索能力和良好的全局优化性能,可以弥补BP的不足。用A*算法快速粗算出的几条可选路径作为 GA 的初始种群,然后用混合的 GA-BP 神经网络算法进行路径规划精算。仿真结果显示混合GA-BP神经网络算法在寻找路径规划的全局最优解上具有一定的优势。     

Real-Time Dynamic Visual Tracking Using PSD Sensors and Extended Trapezoidal Motion Planning

A real-time visual servo tracking system for an industrial robot has been implemented using PSD (Position Sensitive Detector) cameras, neural networks, and an extended trapezoidal motion planning method. PSD and directly transduces the light's projected position on its sensor plane into an analog current and lends itself to fast real-time tracking. A neural network, after proper training, transforms the PSD sensor reading into a 3D position of the target, which is then input to an extended trapezoidal motion planning algorithm. This algorithm implements a continuous motion update strategy in response to an ever-changing sensor information from the moving target, while greatly reducing the tracking delay. This planning method is found to be very useful for sensor-based control such as moving target tracking or weld-seam tracking in which the robot needs to change its motion in real time in response to incoming sensor information. Further, for real-time usage of the neural net, a new architecture called LANN (Locally Activated Neural Network) has been developed based on the concept of CMAC input partitioning and local learning. Experimental evidence shows that an industrial robot can smoothly track a moving target of unknown motion with speeds of up to 1 m/s and with oscillation frequency up to 5 Hz.     

一种异构可重构片上系统的实时任务调度算法

动态可重构系统中为新到达的任务实时地安排任务启动时间和放置位置是硬件任务调度算法的关键.硬件任务的调度在很大程度上影响可重构计算系统的性能.提出了一种基于二维资源模型的分组-邻接边在线调度算法,该算法将硬件任务按照长宽比分为垂直任务和水平任务两组分别考虑在可重构资源上的放置位置,同时引入任务邻接边数作为选择合理放置位置的重要指标,可使得硬件任务放置更为紧凑,减少资源碎片,提高调度成功率.对两种硬件任务放置策略进行了对比,结果表明尽可能旱的安排任务启动有利于提升高负载情况下的调度成功率.仿真实验表明,与已有算法相比,该算法具有更高的任条接受率,而运行时开销没有显著增加.     

可视化Internet信息导航系统

介绍了用信息地图为Internet浏览提供导航的新方法,对制定信息地图的关键问题－－同步更新、搜索引擎、可视化导航等问题进行了探讨,提出了一种新的信息地图表示方式－－扇图。最后,介绍了基于信息地图的可视化信息导航系统的实践开发与应用,并对信息地图的前景作了简单展望。     

车辆导航中基于约束条件的地图引擎和路径规划

构造了嵌入式车载实时语音导航系统约束条件集(RCS)，包含6个约束实体和6种实体约束关系，在此约束条件集下，提出了路径规划改进算法Modify_Dij，构建了支持动态索引机制的并行显示引擎 (PDE)。比较了漫游状态下PDE和一般算法跨图幅响应时间以及Modify_Dij和经典路径规划算法的时间代价，结果显示地图数据引擎PDE与路径规划改进算法Modify_Dij在时间代价方面具有明显优势。完成了一款支持全国路网、满足实用要求的车辆导航设备，改进的路径规划算法和并行显示引擎满足设备实用性需要。