This paper presents an optimisatiombased verification process for obstacle avoidance systems of a unicycle-like mobile robot. It is a novel approach for the collision avoidance verification process. Local and global o...This paper presents an optimisatiombased verification process for obstacle avoidance systems of a unicycle-like mobile robot. It is a novel approach for the collision avoidance verification process. Local and global optimisation based verification processes are developed to find the worst-case parameters and the worst-case distance between the robot and an obstacle. The kinematic and dynamic model of the unicycle-like mobile robot is first introduced with force and torque as the inputs. The design of the control system is split into two parts. One is velocity and rotation using the robot dynamics, and the other is the incremental motion planning for robot kinematics. The artificial potential field method is chosen as a path planning and obstacle avoidance candidate technique for verification study as it is simple and widely used. Different optimisation algorithms are applied and compared for the purpose of verification. It is shown that even for a simple case study where only mass and inertia variations are considered, a local optimization based verification method may fail to identify the worst case. Two global optimisation methods have been investigated： genetic algorithms （GAs） and GLOBAL algorithms. Both of these methods successfully find the worst case. The verification process confirms that the obstacle avoidance algorithm functions correctly in the presence of all the possible parameter variations.展开更多
Cyclic hypergraphs are the analogue of cyclic graphs. The unicycle hypergraph whose cyclomatic number equals to one is the most elemental cyclic hypergraph. In this paper the maximum size of unicycle hypergraphs is s...Cyclic hypergraphs are the analogue of cyclic graphs. The unicycle hypergraph whose cyclomatic number equals to one is the most elemental cyclic hypergraph. In this paper the maximum size of unicycle hypergraphs is studied. It is proved a piecewise linear function of the order and edge size of the hypergraph.展开更多
Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to elim...Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>展开更多
This paper discusses about balancing control of unicycle robot.Unicycle robot consists of pitch which acts like inverted pendulum and roll which acts like reaction wheel pendulum.The robot which does not have actuator...This paper discusses about balancing control of unicycle robot.Unicycle robot consists of pitch which acts like inverted pendulum and roll which acts like reaction wheel pendulum.The robot which does not have actuator located in yaw axis is made to derive the simple dynamics.Lagrange equation is applied to deriving dynamic equations.Obtained dynamic equations are used to design the sliding mode control.State variables of the designed control are pitch angle and roll angle.Sliding mode control has chattering problem,which is eliminated by using the sigmoid function as switching function.Finally the control performance and eliminated chattering problem is verified by simulation.展开更多
The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex non...The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems applied.The results of stochastic simulation of a fuzzy intelligent control system for various types of external/internal excitations for a dynamic,globally unstable control object-extension cableless robotic unicycle based on Soft Computing(Computational Intelligence Toolkit-SCOptKBTM)technology presented.A new approach to design an intelligent control system based on the principle of the minimum entropy production(minimum of useful resource losses)determination in the movement of the control object and the control system is developed.This determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic unicycle.An algorithm for entropy production computing and representation of their relationship with the Lyapunov function(a measure of stochastic robust stability)described.展开更多
文摘This paper presents an optimisatiombased verification process for obstacle avoidance systems of a unicycle-like mobile robot. It is a novel approach for the collision avoidance verification process. Local and global optimisation based verification processes are developed to find the worst-case parameters and the worst-case distance between the robot and an obstacle. The kinematic and dynamic model of the unicycle-like mobile robot is first introduced with force and torque as the inputs. The design of the control system is split into two parts. One is velocity and rotation using the robot dynamics, and the other is the incremental motion planning for robot kinematics. The artificial potential field method is chosen as a path planning and obstacle avoidance candidate technique for verification study as it is simple and widely used. Different optimisation algorithms are applied and compared for the purpose of verification. It is shown that even for a simple case study where only mass and inertia variations are considered, a local optimization based verification method may fail to identify the worst case. Two global optimisation methods have been investigated： genetic algorithms （GAs） and GLOBAL algorithms. Both of these methods successfully find the worst case. The verification process confirms that the obstacle avoidance algorithm functions correctly in the presence of all the possible parameter variations.
文摘Cyclic hypergraphs are the analogue of cyclic graphs. The unicycle hypergraph whose cyclomatic number equals to one is the most elemental cyclic hypergraph. In this paper the maximum size of unicycle hypergraphs is studied. It is proved a piecewise linear function of the order and edge size of the hypergraph.
文摘Technically, a group of more than two wheeled mobile robots working collectively towards a common goal are known as a multi-robot system. An increasing number of industries have implemented multi-robot systems to eliminate the risk of human injuries while working on hazardous tasks, and to improve productivity. Globally, engineers are continuously researching better, simple, and faster cooperative Control algorithms to provide a Control strategy where each agent in the robot formation can communicate effectively and achieve a consensus in their position, orientation and speed.<span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">This paper explores a novel Formation Building Algorithm and its global stability around a configuration vector. A simulation in MATLAB</span><sup><span style="font-size:12px;font-family:Verdana;"><span lang="ZH-CN" style="font-size:12pt;font-family:宋体;">?</span></span></sup><span style="font-family:Verdana;"> was carried out to examine the performance of the Algorithm for two geometric formations and a fixed number of robots. In addition, an obstacle avoidance technique was presented assuming that all robots are equipped with range sensors. In particular, a uniform rounded obstacle is used to analyze</span><span style="font-family:Verdana;"> </span><span style="font-family:Verdana;">the performance of the technique with the use of detailed geometric calculations.</span>
基金The MKE(The Ministry of Knowledge Economy),Korea,under the ITRC(Infor mation Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2012-H0301-12-2006)the MKE,Korea,under the Human Resources Development Programfor Specialized Environment Navigation/Localization Technology Research Center support program supervised by the NIPA(NIPA-2012-H1502-12-1002)
文摘This paper discusses about balancing control of unicycle robot.Unicycle robot consists of pitch which acts like inverted pendulum and roll which acts like reaction wheel pendulum.The robot which does not have actuator located in yaw axis is made to derive the simple dynamics.Lagrange equation is applied to deriving dynamic equations.Obtained dynamic equations are used to design the sliding mode control.State variables of the designed control are pitch angle and roll angle.Sliding mode control has chattering problem,which is eliminated by using the sigmoid function as switching function.Finally the control performance and eliminated chattering problem is verified by simulation.
文摘The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed.A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems applied.The results of stochastic simulation of a fuzzy intelligent control system for various types of external/internal excitations for a dynamic,globally unstable control object-extension cableless robotic unicycle based on Soft Computing(Computational Intelligence Toolkit-SCOptKBTM)technology presented.A new approach to design an intelligent control system based on the principle of the minimum entropy production(minimum of useful resource losses)determination in the movement of the control object and the control system is developed.This determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic unicycle.An algorithm for entropy production computing and representation of their relationship with the Lyapunov function(a measure of stochastic robust stability)described.
