The human following becomes one of the significant procedure in human-friendly navigation of mobile robots.Many potential applications of human-following technology are developed lately.This paper suggests a method fo...The human following becomes one of the significant procedure in human-friendly navigation of mobile robots.Many potential applications of human-following technology are developed lately.This paper suggests a method for a mobile robot to detect human legs and to follow the human by using a single laser range finder(LRF).We extract four simple attributes of human legs.We employ a support vector data description(SVDD)scheme in order to define the boundary of extracted attributes mathematically.To deal with occlusion,we designed an efficient human walking model to have robust tracking.The proposed approaches were successfully confirmed by carrying out various experiments.展开更多
This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The rob...This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled using fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to determine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guidance line and has good performance compare with PID controller.展开更多
The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adap...The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adaptive control for the nonlinear robot manipulator systems. The fuzzy inference is introduced to treat the nonlinearities of the control systems. Furthermore, the stability of the system is discussed by the fuzzy stability theory based on the Lyapunov's direct method. In the closed loop, the robotic system asymptotically converge to the reference trajectory with a pre- scribed transient response.展开更多
为提高移动机器人的跟随精度,对深度相机(RGB-D相机)测距进行研究,提出一种基于MRSD(Mask R-CNN and S2R-DepthNet)的移动机器人跟随系统。引入实例分割算法(Mask R-CNN)获取行人的前景掩膜;以掩膜为指导从深度图像中获取准确的行人区...为提高移动机器人的跟随精度,对深度相机(RGB-D相机)测距进行研究,提出一种基于MRSD(Mask R-CNN and S2R-DepthNet)的移动机器人跟随系统。引入实例分割算法(Mask R-CNN)获取行人的前景掩膜;以掩膜为指导从深度图像中获取准确的行人区域深度像素,引入深度估计算法(S2R-DepthNet)从彩色图像中推理深度图像以替换深度传感器引起的无效深度像素,提高测距的精度;建立基于Sage-Husa自适应滤波(SHAKF)的测距模型,提高量测信息异常情况下的测距鲁棒性,实现稳定跟随。实验结果表明,该方法能以设定距离准确跟随前方行人。展开更多
随着电商行业的快速发展,移动机器人仓储系统(robotic mobile fulfillment systems,RMFS)在现代化物流中心被广泛应用。在RMFS中,机器人在一次分拣搬运任务中,可以采用完全跟随或不跟随两种策略,即机器人可以全程跟随拣选货架直至该任...随着电商行业的快速发展,移动机器人仓储系统(robotic mobile fulfillment systems,RMFS)在现代化物流中心被广泛应用。在RMFS中,机器人在一次分拣搬运任务中,可以采用完全跟随或不跟随两种策略,即机器人可以全程跟随拣选货架直至该任务完成;或者当货架在工作站排队时机器人离开货架去执行其他任务。针对两种跟随策略下的机器人调度问题,以机器人完成批次任务的总时间最短为目标,建立了两种跟随策略下的机器人调度模型,并基于遗传算法设计了两种跟随策略下的仿真实验平台,通过仿真实验对完全跟随与不跟随两种策略下的系统性能进行了比较,得出了基于完工时间最短的跟随策略决策决策曲线,证明结合具体工况选择合适的跟随策略能够有效提高拣货系统作业效率,利用跟随策略曲线可以帮助企业进行机器人跟随策略的选择。展开更多
基金Supported by National Natural Science Foundation of P.R.China(50405046,60605028)Shanghai Project of International Cooperation(045107031)the Program for Excellent Young Teachers of Shanghai(04YOHB094)
基金MKE(the Ministry of Knowledge Economy),Korea,under the ITRC(Infor mation Technology Research Center)support programsupervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2009-C1090-0902-0007)and partly bythe MKE under the Human Resources Development Programfor Convergence Robot Specialists
文摘The human following becomes one of the significant procedure in human-friendly navigation of mobile robots.Many potential applications of human-following technology are developed lately.This paper suggests a method for a mobile robot to detect human legs and to follow the human by using a single laser range finder(LRF).We extract four simple attributes of human legs.We employ a support vector data description(SVDD)scheme in order to define the boundary of extracted attributes mathematically.To deal with occlusion,we designed an efficient human walking model to have robust tracking.The proposed approaches were successfully confirmed by carrying out various experiments.
文摘This paper presents the design of an autonomous robot as a basic development of an intelligent wheeled mobile robot for air duct or corridor cleaning. The robot navigation is based on wall following algorithm. The robot is controlled using fuzzy incremental controller (FIC) and embedded in PIC18F4550 microcontroller. FIC guides the robot to move along a wall in a desired direction by maintaining a constant distance to the wall. Two ultrasonic sensors are installed in the left side of the robot to sense the wall distance. The signals from these sensors are fed to FIC that then used to determine the speed control of two DC motors. The robot movement is obtained through differentiating the speed of these two motors. The experimental results show that FIC is successfully controlling the robot to follow the wall as a guidance line and has good performance compare with PID controller.
文摘The increasing demand on robotic system performance leads to the use of advanced con- trol strategies. This paper proposes a method of nonlinear feedback control introducing fuzzy infer- ence into model-following adaptive control for the nonlinear robot manipulator systems. The fuzzy inference is introduced to treat the nonlinearities of the control systems. Furthermore, the stability of the system is discussed by the fuzzy stability theory based on the Lyapunov's direct method. In the closed loop, the robotic system asymptotically converge to the reference trajectory with a pre- scribed transient response.
文摘为提高移动机器人的跟随精度,对深度相机(RGB-D相机)测距进行研究,提出一种基于MRSD(Mask R-CNN and S2R-DepthNet)的移动机器人跟随系统。引入实例分割算法(Mask R-CNN)获取行人的前景掩膜;以掩膜为指导从深度图像中获取准确的行人区域深度像素,引入深度估计算法(S2R-DepthNet)从彩色图像中推理深度图像以替换深度传感器引起的无效深度像素,提高测距的精度;建立基于Sage-Husa自适应滤波(SHAKF)的测距模型,提高量测信息异常情况下的测距鲁棒性,实现稳定跟随。实验结果表明,该方法能以设定距离准确跟随前方行人。
文摘随着电商行业的快速发展,移动机器人仓储系统(robotic mobile fulfillment systems,RMFS)在现代化物流中心被广泛应用。在RMFS中,机器人在一次分拣搬运任务中,可以采用完全跟随或不跟随两种策略,即机器人可以全程跟随拣选货架直至该任务完成;或者当货架在工作站排队时机器人离开货架去执行其他任务。针对两种跟随策略下的机器人调度问题,以机器人完成批次任务的总时间最短为目标,建立了两种跟随策略下的机器人调度模型,并基于遗传算法设计了两种跟随策略下的仿真实验平台,通过仿真实验对完全跟随与不跟随两种策略下的系统性能进行了比较,得出了基于完工时间最短的跟随策略决策决策曲线,证明结合具体工况选择合适的跟随策略能够有效提高拣货系统作业效率,利用跟随策略曲线可以帮助企业进行机器人跟随策略的选择。
