Localization of a mobile robot with any structure,work space and task is one of the most fundamental issues in the field of robotics and the prerequisite for moving any mobile robot that has always been a challenge fo...Localization of a mobile robot with any structure,work space and task is one of the most fundamental issues in the field of robotics and the prerequisite for moving any mobile robot that has always been a challenge for researchers.In this paper,the Dempster-Shafer(D.S.)and Kalman filter(K.F.)methods are used as the two main tools for the integration and processing of sensor data in robot localization to achieve the best estimate of positioning according to the unsteady environmental conditions in agricultural applications.Also,by providing a new method,the initial weighing on each of these GPS sensors and wheel encoders is done based on the reliability of each one.Also,using the two MAD and MSE criteria,the localization error was compared in both K.F.and D.S.methods.In normal Gaussian noise,the K.F.with a mean error of 2.59%performed better than the D.S.method with a 3.12%error.However,in terms of non-Gaussian noise exposure,the K.F.information was associated with amoderate error of 1.4,while the D.S.behavior in the face of these conditions was not significantly changed.The experimental tests confirmed the statement.展开更多
The definition of the Galileon gravity form is extended to the Brans-Dicke theory. Given, the framework of the Galileon theory, the generalized ghost dark energy model in an anisotropic universe is investigated. We st...The definition of the Galileon gravity form is extended to the Brans-Dicke theory. Given, the framework of the Galileon theory, the generalized ghost dark energy model in an anisotropic universe is investigated. We study the cosmological implications of this model. In particular, we obtain the equation of state and the deceleration parameters and a differential equation governing the evolution of this dark energy in Bianchi type I model. We also probe observational constraints by using the latest observational data on the generalized ghost dark energy models as the unification of dark matter and dark energy. In order to do so, we focus on observational determinations of the Hubble expansion rate(namely, the expansion history) H(z). As a result, we show the influence of the anisotropy(although low) on the evolution of the universe in the statefinder diagrams for Galileon gravity.展开更多
文摘Localization of a mobile robot with any structure,work space and task is one of the most fundamental issues in the field of robotics and the prerequisite for moving any mobile robot that has always been a challenge for researchers.In this paper,the Dempster-Shafer(D.S.)and Kalman filter(K.F.)methods are used as the two main tools for the integration and processing of sensor data in robot localization to achieve the best estimate of positioning according to the unsteady environmental conditions in agricultural applications.Also,by providing a new method,the initial weighing on each of these GPS sensors and wheel encoders is done based on the reliability of each one.Also,using the two MAD and MSE criteria,the localization error was compared in both K.F.and D.S.methods.In normal Gaussian noise,the K.F.with a mean error of 2.59%performed better than the D.S.method with a 3.12%error.However,in terms of non-Gaussian noise exposure,the K.F.information was associated with amoderate error of 1.4,while the D.S.behavior in the face of these conditions was not significantly changed.The experimental tests confirmed the statement.
文摘The definition of the Galileon gravity form is extended to the Brans-Dicke theory. Given, the framework of the Galileon theory, the generalized ghost dark energy model in an anisotropic universe is investigated. We study the cosmological implications of this model. In particular, we obtain the equation of state and the deceleration parameters and a differential equation governing the evolution of this dark energy in Bianchi type I model. We also probe observational constraints by using the latest observational data on the generalized ghost dark energy models as the unification of dark matter and dark energy. In order to do so, we focus on observational determinations of the Hubble expansion rate(namely, the expansion history) H(z). As a result, we show the influence of the anisotropy(although low) on the evolution of the universe in the statefinder diagrams for Galileon gravity.
