This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to ...This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.展开更多
Intelligent perception technology of sensors in autonomous vehicles has been deeply integrated with the algorithm of autonomous driving.This paper provides a survey of the impact of sensing technologies on autonomous ...Intelligent perception technology of sensors in autonomous vehicles has been deeply integrated with the algorithm of autonomous driving.This paper provides a survey of the impact of sensing technologies on autonomous driving,including the intelligent perception reshaping the car architecture from distributed to centralized processing and the common perception algorithms being explored in autonomous driving vehicles,such as visual perception,3D perception and sensor fusion.The pure visual sensing solutions have shown the powerful capabilities in 3D perception leveraging the latest self-supervised learning progress,compared with light detection and ranging(LiDAR)-based solutions.Moreover,we discuss the trends on end-to-end policy decision models of high-level autonomous driving technologies.展开更多
针对给定目标区域的节点自主部署问题,传统的虚拟力方法容易产生覆盖重叠和覆盖空洞,并且计算所需要的参数具有不确定性。文中提出了两种基于Voronoi图的三维移动传感器网络的自主部署算法TDADA-Ⅰ和TDADA-Ⅱ(Autonomous Deployment Alg...针对给定目标区域的节点自主部署问题,传统的虚拟力方法容易产生覆盖重叠和覆盖空洞,并且计算所需要的参数具有不确定性。文中提出了两种基于Voronoi图的三维移动传感器网络的自主部署算法TDADA-Ⅰ和TDADA-Ⅱ(Autonomous Deployment Algorithm of Three-dimensional Mobile Sensor Network Based on Voronoi Diagram)。Voronoi图具有良好的邻近性、邻接性和快速划分区域的特性。该算法计算每个Voronoi区域的重心,使节点向Voronoi区域的重心移动,经过多次迭代构造Voronoi图使得节点移动到最佳位置,从而提高被监测区域的网络覆盖率。仿真实验结果表明,TDADA-Ⅰ和TDADA-Ⅱ有效的提高了被监测区域的网络覆盖率,TDADA-Ⅰ从85.27%提高到了96.04%,TDADA-Ⅱ从85.27%提高到了92.07%。实验结果证明了算法的有效性和正确性。展开更多
根据现场总线的应用领域,即过程自动化、工厂自动化与运动控制,着重分析现场总线在过程自动化方面的应用。适用于过程自动化的现场总线有FF,Profibus,Profinet与EPA,从应用的情况来看都不理想,重点就上述总线的优缺点进行了分析。阐述...根据现场总线的应用领域,即过程自动化、工厂自动化与运动控制,着重分析现场总线在过程自动化方面的应用。适用于过程自动化的现场总线有FF,Profibus,Profinet与EPA,从应用的情况来看都不理想,重点就上述总线的优缺点进行了分析。阐述了基于无线传感器网络,智能化现场仪表与计算相结合的云控制系统CCS(Cloud Control System)的发展趋势。展开更多
文摘This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.
文摘Intelligent perception technology of sensors in autonomous vehicles has been deeply integrated with the algorithm of autonomous driving.This paper provides a survey of the impact of sensing technologies on autonomous driving,including the intelligent perception reshaping the car architecture from distributed to centralized processing and the common perception algorithms being explored in autonomous driving vehicles,such as visual perception,3D perception and sensor fusion.The pure visual sensing solutions have shown the powerful capabilities in 3D perception leveraging the latest self-supervised learning progress,compared with light detection and ranging(LiDAR)-based solutions.Moreover,we discuss the trends on end-to-end policy decision models of high-level autonomous driving technologies.
文摘针对给定目标区域的节点自主部署问题,传统的虚拟力方法容易产生覆盖重叠和覆盖空洞,并且计算所需要的参数具有不确定性。文中提出了两种基于Voronoi图的三维移动传感器网络的自主部署算法TDADA-Ⅰ和TDADA-Ⅱ(Autonomous Deployment Algorithm of Three-dimensional Mobile Sensor Network Based on Voronoi Diagram)。Voronoi图具有良好的邻近性、邻接性和快速划分区域的特性。该算法计算每个Voronoi区域的重心,使节点向Voronoi区域的重心移动,经过多次迭代构造Voronoi图使得节点移动到最佳位置,从而提高被监测区域的网络覆盖率。仿真实验结果表明,TDADA-Ⅰ和TDADA-Ⅱ有效的提高了被监测区域的网络覆盖率,TDADA-Ⅰ从85.27%提高到了96.04%,TDADA-Ⅱ从85.27%提高到了92.07%。实验结果证明了算法的有效性和正确性。
文摘根据现场总线的应用领域,即过程自动化、工厂自动化与运动控制,着重分析现场总线在过程自动化方面的应用。适用于过程自动化的现场总线有FF,Profibus,Profinet与EPA,从应用的情况来看都不理想,重点就上述总线的优缺点进行了分析。阐述了基于无线传感器网络,智能化现场仪表与计算相结合的云控制系统CCS(Cloud Control System)的发展趋势。
