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Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control 用于先进车辆控制的磁力计和差分载波相位gps辅助INS
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809591
Yunchun Yang, J. Farrell
This paper describes the design, analysis, implementation, and experimental results of a triple redundancy navigation system incorporating magnetometer, inertial, and carrier phase differential Global Positioning System (GPS) measurements. The navigation system is able to accurately estimate vehicle attitude (including yaw) as long as the vehicle velocity is not zero. The motivating application was lateral vehicle control for intelligent highway systems. The system was designed to operate reliably whether or not GPS and magnetometer measurements were available. The navigation system provides vehicle position, velocity, acceleration, pitch and roll, yaw, and angular rates at 150 Hz with accuracies (standard deviation) of 2.8 cm, 0.8 cm/s, 2.2 cm/s/s, 0.03/spl deg/, 0.18/spl deg/, and 0.1/spl deg//s. This navigation state vector was processed to produce a control state vector at approximately 30 Hz. This triplicate redundancy navigation system reliably demonstrated lateral vehicle control in the following situations: both GPS and magnetometer aiding the inertial navigation system (INS), GPS-aided INS, magnetometer aided-INS, and switching between GPS and magnetometer aiding of the INS at random times.
本文介绍了一种结合磁强计、惯性和载波相位差分全球定位系统(GPS)测量的三冗余导航系统的设计、分析、实现和实验结果。只要飞行器速度不为零,导航系统就能准确估计飞行器的姿态(包括偏航)。驱动应用是智能公路系统的横向车辆控制。无论GPS和磁力计测量是否可用,该系统都能可靠地运行。导航系统在150 Hz下提供车辆位置、速度、加速度、俯仰和侧倾、偏航和角速率,精度(标准偏差)为2.8 cm、0.8 cm/s、2.2 cm/s、0.03/spl deg/、0.18/spl deg/和0.1/spl deg/ s。该导航状态矢量经过处理后产生约30 Hz的控制状态矢量。该三冗余导航系统在以下情况下可靠地演示了车辆的横向控制:GPS和磁强计辅助惯性导航系统(INS)、GPS辅助惯性导航系统、磁强计辅助惯性导航系统以及GPS和磁强计辅助惯性导航系统在随机时间之间切换。
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引用次数: 93
Motion planning of multiple mobile robots for Cooperative manipulation and transportation 多移动机器人协同操作和运输的运动规划
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809592
A. Yamashita, T. Arai, J. Ota, H. Asama
In this paper, we propose a motion-planning method of multiple mobile robots for cooperative transportation of a large object in a three-dimensional environment. This task has various kinds of problems, such as obstacle avoidance and stable manipulation. All of these problems cannot be solved at once, since it would result in a dramatic increase of the computational time. Accordingly, we divided the motion planner into a global path planner and a local manipulation planner, designed them, and integrated them. The aim was to integrate a gross motion planner and a fine motion planner. Concerning the global path planner, we reduced the dimensions of the configuration space (C-space) using the feature of transportation by mobile robots. We used the potential field to find the solution by searching in this smaller-dimension reconstructed C-space. In the global path planner, the constraints of the object manipulation are considered as the cost function and the heuristic function in the A/sup */ search. For the local manipulation planner, we developed a manipulation technique, which is suitable for mobile robots by position control. We computed the conditions in which the object becomes unstable during manipulation and generated each robot's motion, considering the robots' motion errors and indefinite factors from the planning stage. We verified the effectiveness of our proposed motion planning method through simulations.
本文提出了一种三维环境下多移动机器人协同搬运大型物体的运动规划方法。这个任务有各种各样的问题,如避障和稳定操作。所有这些问题都不能一次性解决,因为这会导致计算时间的急剧增加。据此,我们将运动规划器划分为全局路径规划器和局部操作规划器,并对其进行了设计和集成。其目的是整合一个大体的运动规划和一个精细的运动规划。在全局路径规划中,我们利用移动机器人运输的特征对构型空间(c空间)进行降维。我们利用势场在这个小维重构的c空间中搜索来求解。在全局路径规划器中,将对象操作的约束视为A/sup */搜索中的代价函数和启发式函数。对于局部操作规划器,我们开发了一种适用于移动机器人的位置控制操作技术。从规划阶段考虑机器人的运动误差和不确定因素,计算了操作过程中物体变得不稳定的条件,生成了每个机器人的运动。通过仿真验证了所提运动规划方法的有效性。
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引用次数: 168
Path planning with uncalibrated stereo rig for image-based visual servoing under large pose discrepancy 大位姿差异下基于图像的视觉伺服路径规划
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808861
Jae Seok Park, M. Chung
Although image-based visual servoing provides superior performance in many vision-based robotic applications, it reveals fatal limitations when initial pose discrepancy is large. The feature points may leave the camera's field of view, and also, the robot may not converge to the goal configuration. In this paper, a novel approach is proposed to resolve these limitations by planning trajectories in the image space using uncalibrated stereo cameras. Intermediate views of the robot gripper are synthesized to generate the image trajectories such that the gripper can track a straight path in the three-dimensional workspace. The proposed method utilizes screw motions of the gripper represented in the projective space with the help of the fundamental properties of projective geometry. Computational issues are also considered to enhance the estimation of the projective transformation from initial to goal configuration. The validity of this approach is demonstrated through computer simulations and limited experiments.
尽管基于图像的视觉伺服在许多基于视觉的机器人应用中提供了优越的性能,但当初始姿态差异较大时,它暴露出致命的局限性。特征点可能会离开相机的视野,并且机器人可能不会收敛到目标构型。本文提出了一种新的方法,通过使用未校准的立体摄像机在图像空间中规划轨迹来解决这些限制。合成机器人夹持器的中间视图,生成图像轨迹,使夹持器在三维工作空间中跟踪直线路径。该方法利用射影几何的基本性质,在射影空间中表示夹持器的螺旋运动。还考虑了计算问题,以提高从初始配置到目标配置的投影变换的估计。通过计算机仿真和有限的实验验证了该方法的有效性。
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引用次数: 50
Simultaneous localization and map building for a team of cooperating robots: a set membership approach 协作机器人团队的同步定位和地图构建:集合成员方法
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808849
M. D. Marco, A. Garulli, Antonio Giannitrapani, A. Vicino
The problem of simultaneous localization and map building for a team of cooperating robots moving in an unknown environment is addressed. The robots have to estimate the position of distinguishable static landmarks, and then localize themselves with respect to other robots and landmarks, exploiting distance and angle measurements. A novel set theoretic approach to this problem is presented. The proposed localization algorithm provides position estimates and guaranteed uncertainty regions for all robots and landmarks in the environment.
研究了协作机器人在未知环境中移动时的同时定位和地图构建问题。机器人必须估计可识别的静态地标的位置,然后利用距离和角度测量,相对于其他机器人和地标进行定位。提出了一种新的集论方法来解决这一问题。提出的定位算法为环境中所有机器人和地标提供位置估计和保证的不确定性区域。
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引用次数: 98
An integrated approach for product family and assembly system design 产品族与装配系统设计的集成方法
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808853
P. D. Lit, A. Delchambre, J. Henrioud
The main objective of the research presented in this paper was to develop a new philosophy for the design of a product family (PF) and its assembly system. Most methodologies usually do not consider the interactions between these two design processes. Moreover, most "assembly-centered" concurrent engineering approaches do not deal with PFs. A research project, called CISAL, was initiated in Belgium in the late nineties to tackle this problem. The proposed tool is intended to be applicable to PFs and hybrid assembly lines (presenting manual, robotic and automated operations). It is subdivided into three interacting main modules: preliminary design for assembly (DFA) and assembly planning (AP); detailed DFA and AP; and line layout. The whole methodology is articulated around the functional entities (FEns), resulting from a first-order decomposition of the PF and aiming at reducing the complexity inherent to the design of multivariant products. All tools presented take this decomposition into account and treat design issues related to each FEn separately, considering the PF as an assembly of FEns. This paper presents the framework of CISAL, and the underlying methodology is illustrated on an industrial case study.
本文研究的主要目的是为产品族(PF)及其装配系统的设计开发一种新的理念。大多数方法通常不考虑这两个设计过程之间的相互作用。此外,大多数“以装配为中心”的并行工程方法不处理pf。90年代末,比利时启动了一个名为CISAL的研究项目来解决这个问题。建议的工具旨在适用于PFs和混合装配线(呈现手动,机器人和自动化操作)。它被细分为三个相互作用的主要模块:装配初步设计(DFA)和装配规划(AP);详细的DFA和AP;和线路布局。整个方法围绕功能实体(FEns)进行阐述,由PF的一阶分解产生,旨在降低多变体产品设计固有的复杂性。提出的所有工具都考虑了这种分解,并分别处理与每个FEn相关的设计问题,将PF视为FEn的一个组件。本文介绍了CISAL的框架,并在一个工业案例研究中说明了其基本方法。
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引用次数: 47
Automatic recalibration of an active structured light vision system 主动结构光视觉系统的自动重新校准
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808859
Youfu Li, Shengyong Chen
A structured light vision system using pattern projection is useful for robust reconstruction of three-dimensional objects. One of the major tasks in using such a system is the calibration of the sensing system. This paper presents a new method by which a two-degree-of-freedom structured light system can be automatically recalibrated, if and when the relative pose between the camera and the projector is changed. A distinct advantage of this method is that neither an accurately designed calibration device nor the prior knowledge of the motion of the camera or the scene is required. Several important cues for self-recalibration are explored. The sensitivity analysis shows that high accuracy in-depth value can be achieved with this calibration method. Some experimental results are presented to demonstrate the calibration technique.
基于模式投影的结构光视觉系统可用于三维物体的鲁棒重建。使用这种系统的主要任务之一是对传感系统进行校准。本文提出了当摄像机与投影仪之间的相对姿态发生变化时,二自由度结构光系统自动重新标定的新方法。这种方法的一个明显的优点是,既不需要精确设计的校准装置,也不需要事先知道相机或场景的运动。探讨了自我再校准的几个重要线索。灵敏度分析表明,该方法可获得较高精度的深度值。给出了一些实验结果来验证校准技术。
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引用次数: 112
Robust scene reconstruction from an omnidirectional vision system 基于全方位视觉系统的鲁棒场景重建
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808850
R. Bunschoten, B. Kröse
In this paper, we present an efficient multi-baseline stereo algorithm for panoramic image data. We derive a parameterization of epipolar curves in terms of inverse depth. As a result, the search for image correspondences across multiple images can be performed efficiently. Furthermore, depth estimates are obtained directly, thus bypassing the need to perform explicit stereoscopic triangulation. We apply our method to obtain a three-dimensional reconstruction of an environment from a set of panoramic images. The images are acquired by a single omnidirectional vision sensor mounted on top of our mobile robot during navigation. Experimental results demonstrate the effectiveness of our approach.
本文提出了一种高效的多基线立体图像处理算法。我们导出了一种基于逆深度的极线参数化方法。因此,可以有效地执行跨多个图像的图像对应搜索。此外,深度估计是直接获得的,从而绕过了需要执行明确的立体三角测量。我们应用我们的方法从一组全景图像中获得一个环境的三维重建。这些图像是通过安装在移动机器人顶部的单一全方位视觉传感器在导航过程中获取的。实验结果证明了该方法的有效性。
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引用次数: 115
State space modeling of dimensional variation propagation in multistage machining process using differential motion vectors 基于微分运动矢量的多级加工过程中尺寸变化传播的状态空间建模
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808852
Shiyu Zhou, Qiang Huang, Jianjun Shi
In this paper, a state space model is developed to describe the dimensional variation propagation of multistage machining processes. A complicated machining system usually contains multiple stages. When the workpiece passes through multiple stages, machining errors at each stage will be accumulated and transformed onto the workpiece. Differential motion vector, a concept from the robotics field, is used in this model as the state vector to represent the geometric deviation of the workpiece. The deviation accumulation and transformation are quantitatively described by the state transition in the state space model. A systematic procedure that builds the model is presented and an experimental validation is also conducted. The validation result is satisfactory. This model has great potential to be applied to fault diagnosis and process design evaluation for complicated machining processes.
本文建立了一种状态空间模型来描述多阶段加工过程的尺寸变化传播。一个复杂的加工系统通常包含多个阶段。当工件经过多个加工阶段时,每一阶段的加工误差都会累积并转化到工件上。该模型采用机器人领域的微分运动矢量作为状态矢量来表示工件的几何偏差。在状态空间模型中,用状态转移来定量描述偏差的积累和转换。给出了建立模型的系统步骤,并进行了实验验证。验证结果令人满意。该模型在复杂加工过程的故障诊断和工艺设计评价中具有很大的应用潜力。
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引用次数: 256
Forward model for sonar maps produced with the Polaroid ranging module 用宝丽来测距模块制作的声纳地图正演模型
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809586
R. Kuc
Conventional Polaroid time-of-flight (TOF) sonars provide object range measurements, but their wide beam widths limit the object bearing accuracy. We describe a first-order model that predicts the TOF readings from an object at a given range, bearing, and reflecting strength produced by the Polaroid 6500 series sonar ranging module connected to a 600 series electrostatic transducer. The model provides a simple method for solving the inverse problem of estimating these object parameters from conventional TOF data. Experimental results are given to demonstrate the model performance. Our model provides a reasonable fit for main-lobe data observed for objects with reflecting strengths that vary by 25 dB. An example of an inverse problem solution demonstrates the model can improve object range and bearing measurements, and can also estimate the object reflecting strength, a landmark feature useful for robot navigation tasks.
传统的宝丽来飞行时间(TOF)声纳提供目标距离测量,但其宽波束宽度限制了目标方位精度。我们描述了一个一阶模型,该模型预测了宝丽来6500系列声纳测距模块与600系列静电换能器连接产生的给定范围、方位和反射强度下物体的TOF读数。该模型为解决从常规TOF数据中估计这些目标参数的反问题提供了一种简单的方法。实验结果验证了模型的性能。我们的模型为反射强度变化为25 dB的物体观测到的主瓣数据提供了合理的拟合。一个反问题解的例子表明,该模型可以改善物体的距离和方位测量,还可以估计物体的反射强度,这是机器人导航任务的一个重要特征。
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引用次数: 28
Cobot implementation of virtual paths and 3D virtual surfaces Cobot实现虚拟路径和3D虚拟曲面
Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808866
C. Moore, M. Peshkin, J. Colgate
Cobots are devices for human/robot interaction, in which axes of motion are coupled to one another by computer-controlled continuously variable transmissions rather than individually driven by servomotors. We have recently built a cobot with a three-dimensional workspace and a 3-revolute parallelogram-type mechanism. Here we present the control methods for the display of virtual surfaces and for free mode in which the cobot endpoint moves as if it were unconstrained. We provide experimental results on the performance of the free, virtual path, and virtual surface controllers.
协作机器人是用于人/机器人交互的设备,其中运动轴通过计算机控制的无级变速器相互耦合,而不是由伺服电机单独驱动。我们最近建立了一个具有三维工作空间和三转动平行四边形机构的协作机器人。在这里,我们提出了虚拟表面的显示和自由模式的控制方法,在这种模式下,协作机器人端点移动就好像它是不受约束的。我们提供了自由、虚拟路径和虚拟表面控制器性能的实验结果。
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引用次数: 72
期刊
IEEE Trans. Robotics Autom.
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