Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

基于改进D?Lite遗传算法路径规划研究

针对遗传算法在移动机器人路径规划中易产生早熟现象和收敛速度慢的问题,提出了改进的D~* Lite遗传算法。该算法将D~* Lite算法和遗传算法相结合,通过引入碰撞系数和可视检测技术以提高路径安全性,寻找最短路径。在遗传算法设计中加入动态调整交叉与变异概率,以解决算法在路径规划中因陷入局部最优值而不能到达目标点的问题。最后,通过实验仿真可知:与蚁群算法和免疫遗传算法相比,改进的D~* Lite遗传算法执行效率高,可以快速规划出全局最优路径。     

无线传感器网络中移动sink节点的路径规划

在无线传感器网络中,大量感知数据汇集到sink节点的采集方法会导致sink节点附近的节点能量耗尽,造成能量空洞。针对该问题,利用移动的sink节点进行数据收集是一种解决方法,其中移动sink的路径规划成为一个重要的问题。提出了一个移动sink路径规划算法,将无线传感器中随机分布的节点划分为不同的子区域,寻找sink节点移动的最佳转向点,最终得到最优的移动路径,以实现无线传感器网络生命周期最大化。仿真实验表明,与现有方案相比,该算法能显著延长网络的生命周期。     

Parallel path consistency

Filtering algorithms are well accepted as a means of speeding up the solution of the consistent labeling problem (CLP). Despite the fact that path consistency does a better job of filtering than arc consistency, AC is still the preferred technique because it has a much lower time complexity. We are implementing parallel path consistency algorithms on multiprocessors and comparing their performance to the best sequential and parallel arc consistency algorithms.^(1,2) (See also work by Kerethoet al. ⁽³⁾ and Kasif⁽⁴⁾) Preliminary work has shown linear performance increases for parallelized path consistency and also shown that in many cases performance is significantly better than the theoretical worst case. These two results lead us to believe that parallel path consistency may be a superior filtering technique. Finally, we have implemented path consistency as an outer product computation and have obtained good results (e.g., linear speedup on a 64K-node Connection Machine 2).     

Simple algorithms for searching a polygon with flashlights

The k-searcher is a mobile guard whose visibility is limited to k rays emanating from her position, where the direction of each ray can be changed continuously with bounded angular rotation speed. Given a polygonal region P, is it possible for the k-searcher to eventually see a mobile intruder that is arbitrarily faster than the searcher within P? We present O(n²)-time algorithms for constructing a search schedule of the 1-searcher and the 2-searcher, respectively. Our framework for the 1-searcher can be viewed as a modification of that of LaValle et al. [Proc. 16th ACM Symp. on Computational Geometry, 2000, pp. 260-269] and is naturally extended for the 2-searcher.     

基于栅格法-模拟退火法的机器人路径规划

路径规划是机器人技术中的重要组成部分,分全局路径规划和局部路径规划。本文将栅格法与模拟退火法结合,采用栅格法表示环境信息。局部路径规划主要基于模拟退火法,使路径跳出局部极小点,到达目标位置。     

High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.     

Planning collision-free trajectories in time-varying environments: a two-level hierarchy

We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction with a local avoidance strategy. Simulations have been developed for a mobile robot in the plane among stationary and moving obstacles. Essentially, the robot has a global geometric planner that provides a coarse global trajectory (the path and velocity along it), which may be locally modified by the low-level local avoidance module if local sensors detect any obstacles in the vicinity of the robot. This hierarchy makes effective use of the complementary aspects of the global trajectory planning approaches and the local obstacle avoidance approaches.     

媒体同步关系的描述

由于多媒体信息系统中，需要集成各种数据类型，而这些数据类型又有着密切的时间关系，所以对于多媒体来说，同步问题是很重要的，而同步的基础是为同步关系建立一个独立于实现环境的抽象的表示模型，本文着重讨论几种描述媒体同步关系的模型。