Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250111
J. P. Mitchell, Grant Bruer, Mark E. Dean, J. Plank, G. Rose, Catherine D. Schuman
In this paper we describe the use of a new neuromorphic computing framework to implement the navigation system for a roaming, obstacle avoidance robot. Using a Dynamic Adaptive Neural Network Array (DANNA) structure, our TENNLab (Laboratory of Tennesseans Exploring Neural Networks) hardware/software co-design framework and evolutionary optimization (EO) as the training algorithm, we create, train, implement, and test a spiking neural network autonomous robot control system using an array of neuromorphic computing elements built on an FPGA. The simplicity and flexibility of the DANNA neuromorphic computing elements allow for sufficient scale and connectivity on a Xilinx Kintex-7 FPGA to support sensory input and motor control for a mobile robot to navigate a dynamically changing environment. We further describe how more complex capabilities can be added using the same platform, e.g. object identification and tracking.
{"title":"NeoN: Neuromorphic control for autonomous robotic navigation","authors":"J. P. Mitchell, Grant Bruer, Mark E. Dean, J. Plank, G. Rose, Catherine D. Schuman","doi":"10.1109/IRIS.2017.8250111","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250111","url":null,"abstract":"In this paper we describe the use of a new neuromorphic computing framework to implement the navigation system for a roaming, obstacle avoidance robot. Using a Dynamic Adaptive Neural Network Array (DANNA) structure, our TENNLab (Laboratory of Tennesseans Exploring Neural Networks) hardware/software co-design framework and evolutionary optimization (EO) as the training algorithm, we create, train, implement, and test a spiking neural network autonomous robot control system using an array of neuromorphic computing elements built on an FPGA. The simplicity and flexibility of the DANNA neuromorphic computing elements allow for sufficient scale and connectivity on a Xilinx Kintex-7 FPGA to support sensory input and motor control for a mobile robot to navigate a dynamically changing environment. We further describe how more complex capabilities can be added using the same platform, e.g. object identification and tracking.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132761315","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250099
P. Gunawardane, Nimali T. Medagedara
Gesture recognition devices in the market are getting popular today. Many of these devices are used different technologies to recognize gestures and generate an output to control different mechanisms. In this research, a data glove has developed to track the motion of the hand & compare its performance against Leap Motion Controller to control a Soft Finger mechanism. A data glove has developed to track the motion of the human hand using flex sensors, gyroscopes and vision data. Position, orientation, velocity & acceleration, bending angle of the fingers has extracted from the data. Similar data has extracted from the Leap Motion controller and then performance has compared. Then required parameters has extracted from the data set and fed into the virtual elastomer simulation and bending angle of a single Soft Finger has studied. The average percentage error between Leap Motion and the Data Glove for the bending angle was found to be 26.36% & 18.21% with respect to the standard finger behavior. Then the average standard deviation of the orientation has obtained for Yaw, Pitch & Roll separately for Leap Motion and Data Glove. The Leap Motion & Data Glove bending angle data has the fed to the finite element simulation and the average percentage error of the response generated has found to be 10.13% for the Leap Motion and 33.03% for the Data Glove. Therefore, Leap Motion Controller shows a high repeatability and high potential in using for Soft Finger type applications. Improvements to this system and material optimization could lead this mechanism to high precession applications.
{"title":"Comparison of hand gesture inputs of leap motion controller & data glove in to a soft finger","authors":"P. Gunawardane, Nimali T. Medagedara","doi":"10.1109/IRIS.2017.8250099","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250099","url":null,"abstract":"Gesture recognition devices in the market are getting popular today. Many of these devices are used different technologies to recognize gestures and generate an output to control different mechanisms. In this research, a data glove has developed to track the motion of the hand & compare its performance against Leap Motion Controller to control a Soft Finger mechanism. A data glove has developed to track the motion of the human hand using flex sensors, gyroscopes and vision data. Position, orientation, velocity & acceleration, bending angle of the fingers has extracted from the data. Similar data has extracted from the Leap Motion controller and then performance has compared. Then required parameters has extracted from the data set and fed into the virtual elastomer simulation and bending angle of a single Soft Finger has studied. The average percentage error between Leap Motion and the Data Glove for the bending angle was found to be 26.36% & 18.21% with respect to the standard finger behavior. Then the average standard deviation of the orientation has obtained for Yaw, Pitch & Roll separately for Leap Motion and Data Glove. The Leap Motion & Data Glove bending angle data has the fed to the finite element simulation and the average percentage error of the response generated has found to be 10.13% for the Leap Motion and 33.03% for the Data Glove. Therefore, Leap Motion Controller shows a high repeatability and high potential in using for Soft Finger type applications. Improvements to this system and material optimization could lead this mechanism to high precession applications.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"52 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133374380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250139
Y. Sasaki, Jirou Nitta
The paper proposes an autonomous mobile robot that can keep moving in a human environment all day. We conducted a long-term demonstration experiment in a science museum. The goals of the experiment were (1) to clarify what the proposed navigation can and cannot do without a human-motion model and (2) to collect a large amount of real pedestrian motion data on global map coordinates from the robot in motion. The experimental results indicate that the proposed autonomous robot worked stably for more than 120 hours without collisions. The collected pedestrian observation data is evaluated by comparing it with data collected from distributed static sensors.
{"title":"Long-term demonstration experiment of autonomous mobile robot in a science museum","authors":"Y. Sasaki, Jirou Nitta","doi":"10.1109/IRIS.2017.8250139","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250139","url":null,"abstract":"The paper proposes an autonomous mobile robot that can keep moving in a human environment all day. We conducted a long-term demonstration experiment in a science museum. The goals of the experiment were (1) to clarify what the proposed navigation can and cannot do without a human-motion model and (2) to collect a large amount of real pedestrian motion data on global map coordinates from the robot in motion. The experimental results indicate that the proposed autonomous robot worked stably for more than 120 hours without collisions. The collected pedestrian observation data is evaluated by comparing it with data collected from distributed static sensors.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131263057","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250128
B. Vemula, Marcus Ramteen, G. Spampinato, Björn Fagerström
In this research, a novel impact simulation model based on compliant contact force (CCF) modelling approach is presented. This model can simulate the physical impact between non-homogeneous and layered elastic bodies representing the robot and human body parts. The proposed CCF model is intended to be used by the robot designers to execute safety evaluation tasks during the design and development of collaborative robot systems. The main theoretical contribution from this CCF impact model is related to the formulations, which can account for the contact behavior due to the non-homogeneous nature of the impacting bodies. The relevance of the proposed impact simulation is evaluated based on a comparative analysis with other available relevant models from the literature as well as with Finite element based simulation model. Finally, the influence of various robot design parameters on the impact severity is analyzed for different impact scenarios by adopting the proposed CCF model.
{"title":"Human-robot impact model: For safety assessment of collaborative robot design","authors":"B. Vemula, Marcus Ramteen, G. Spampinato, Björn Fagerström","doi":"10.1109/IRIS.2017.8250128","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250128","url":null,"abstract":"In this research, a novel impact simulation model based on compliant contact force (CCF) modelling approach is presented. This model can simulate the physical impact between non-homogeneous and layered elastic bodies representing the robot and human body parts. The proposed CCF model is intended to be used by the robot designers to execute safety evaluation tasks during the design and development of collaborative robot systems. The main theoretical contribution from this CCF impact model is related to the formulations, which can account for the contact behavior due to the non-homogeneous nature of the impacting bodies. The relevance of the proposed impact simulation is evaluated based on a comparative analysis with other available relevant models from the literature as well as with Finite element based simulation model. Finally, the influence of various robot design parameters on the impact severity is analyzed for different impact scenarios by adopting the proposed CCF model.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125259178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250144
Shady Al-Zubi, K. Cheok, S. Sengupta
In this paper, a systematic approach is presented and a physical experiment substantiated for a SISO wind tunnel adaptive control system. This approach includes a two-step adaptation scheme: The first comprises a triggered system identification process and the second an adapting controller system. To verify this integrated systems engineering approach, a physical wind tunnel was constructed with an axial fan and airspeed sensors. A real-time adapting system model, coupled with an adaptive control system is interfaced with the wind tunnel. The real-time data from the system in operation is analyzed and used to influence how the controller adapts through system identification techniques as well as PID tuning criteria.
{"title":"Development of a two step self-triggered adapting wind tunnel control system","authors":"Shady Al-Zubi, K. Cheok, S. Sengupta","doi":"10.1109/IRIS.2017.8250144","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250144","url":null,"abstract":"In this paper, a systematic approach is presented and a physical experiment substantiated for a SISO wind tunnel adaptive control system. This approach includes a two-step adaptation scheme: The first comprises a triggered system identification process and the second an adapting controller system. To verify this integrated systems engineering approach, a physical wind tunnel was constructed with an axial fan and airspeed sensors. A real-time adapting system model, coupled with an adaptive control system is interfaced with the wind tunnel. The real-time data from the system in operation is analyzed and used to influence how the controller adapts through system identification techniques as well as PID tuning criteria.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127475065","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250092
U. Maniscalco, Ignazio Infantino, Adriano Manfré
The Mobile Robot Self-Localization is always a crucial aspect of the autonomous navigation task. The challenge of self-locating become complicated when the robot has sensors having low-level precision and accuracy. This work faces this aspect finding a solution by the using of the soft sensor paradigm. Various sources of information regarding the robot localisation are involved in a data fusion mechanism to get a more accurate estimation of the position of a mobile robot. Statistical considerations concerning the probability of a correct estimate for each source of information constitute the kernel of the soft sensor for the mobile robot self-localization. The soft sensor also computes the geometric transformations needed to correct all the different positions of the robot achieved by each source of information. Moreover, the paper reports an experiment of localization based on the combination of measures arising from a probabilistic approach (based on Adaptive Monte Carlo Localization) and the robot odometry. The proposed approach improves the accuracy of the autonomous navigation by means of a dynamic choice of the best available measure at any moment.
{"title":"Robust mobile robot self-localization by soft sensor paradigm","authors":"U. Maniscalco, Ignazio Infantino, Adriano Manfré","doi":"10.1109/IRIS.2017.8250092","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250092","url":null,"abstract":"The Mobile Robot Self-Localization is always a crucial aspect of the autonomous navigation task. The challenge of self-locating become complicated when the robot has sensors having low-level precision and accuracy. This work faces this aspect finding a solution by the using of the soft sensor paradigm. Various sources of information regarding the robot localisation are involved in a data fusion mechanism to get a more accurate estimation of the position of a mobile robot. Statistical considerations concerning the probability of a correct estimate for each source of information constitute the kernel of the soft sensor for the mobile robot self-localization. The soft sensor also computes the geometric transformations needed to correct all the different positions of the robot achieved by each source of information. Moreover, the paper reports an experiment of localization based on the combination of measures arising from a probabilistic approach (based on Adaptive Monte Carlo Localization) and the robot odometry. The proposed approach improves the accuracy of the autonomous navigation by means of a dynamic choice of the best available measure at any moment.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132034743","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250117
Christoph N. Thompson, S. Mohamed, W. Louie, Jiang Chen He, Jacob Li, G. Nejat
Robot facilitated cognitive interventions for older adults have mainly focused on one-on-one interactions or with groups of people each individually playing. In this paper, we present the design of the socially assistive robot, Tangy, for autonomously facilitating the team-based cognitively stimulating activity of Trivia with older adults which encourages users to interact with each other. A pilot study at a local long-term care facility with older adult residents demonstrated that Tangy could successfully facilitate Trivia games. In general, the participants were engaged in the activity, complied with the robot's requests, and had positive attitudes towards Tangy during the games. The Trivia game scenario also promoted cooperation and interactions between teammates. Furthermore, we compared the results in this study with the results of our previous study on the individually played game of Bingo. The comparison results showed that participants complied with the robot and were engaged during both activities, however, the team-based Trivia had higher levels of engagement and player interaction.
{"title":"The robot Tangy facilitating Trivia games: A team-based user-study with long-term care residents","authors":"Christoph N. Thompson, S. Mohamed, W. Louie, Jiang Chen He, Jacob Li, G. Nejat","doi":"10.1109/IRIS.2017.8250117","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250117","url":null,"abstract":"Robot facilitated cognitive interventions for older adults have mainly focused on one-on-one interactions or with groups of people each individually playing. In this paper, we present the design of the socially assistive robot, Tangy, for autonomously facilitating the team-based cognitively stimulating activity of Trivia with older adults which encourages users to interact with each other. A pilot study at a local long-term care facility with older adult residents demonstrated that Tangy could successfully facilitate Trivia games. In general, the participants were engaged in the activity, complied with the robot's requests, and had positive attitudes towards Tangy during the games. The Trivia game scenario also promoted cooperation and interactions between teammates. Furthermore, we compared the results in this study with the results of our previous study on the individually played game of Bingo. The comparison results showed that participants complied with the robot and were engaged during both activities, however, the team-based Trivia had higher levels of engagement and player interaction.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128977969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250140
Vinicius Prado da Fonseca, T. E. A. de Oliveira, Katerina Eyre, E. Petriu
Robotic hands able to conduct precision in-hand manipulation have become imperative for modern robotic systems. Compliant finger joints provide compliant grasping but the post-grasp orientation of an object varies. Under-actuated, robotic hands that are capable of grasping and reorienting objects are one step closer to human-like end-effectors. This paper presents a hand prototype with two under-actuated fingers embedded with tactile feedback and a fuzzy system to obtain a stable grasp, integrated to the gripper. One fully actuated robotic thumb with 3 degrees of freedom (DOF) is also presented. The integrated system evaluates tactile feedback, object orientation and thumb trajectory planning for in-hand manipulation tasks. The fuzzy logic controller was able to perform stable grasping while the tactile sensors fixed on the phalanges successfully detected the objects' changes in orientation. In conclusion the stable grasping was maintained during the object reorientation achieving the in-hand manipulation for the proposed task.
{"title":"Stable grasping and object reorientation with a three-fingered robotic hand","authors":"Vinicius Prado da Fonseca, T. E. A. de Oliveira, Katerina Eyre, E. Petriu","doi":"10.1109/IRIS.2017.8250140","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250140","url":null,"abstract":"Robotic hands able to conduct precision in-hand manipulation have become imperative for modern robotic systems. Compliant finger joints provide compliant grasping but the post-grasp orientation of an object varies. Under-actuated, robotic hands that are capable of grasping and reorienting objects are one step closer to human-like end-effectors. This paper presents a hand prototype with two under-actuated fingers embedded with tactile feedback and a fuzzy system to obtain a stable grasp, integrated to the gripper. One fully actuated robotic thumb with 3 degrees of freedom (DOF) is also presented. The integrated system evaluates tactile feedback, object orientation and thumb trajectory planning for in-hand manipulation tasks. The fuzzy logic controller was able to perform stable grasping while the tactile sensors fixed on the phalanges successfully detected the objects' changes in orientation. In conclusion the stable grasping was maintained during the object reorientation achieving the in-hand manipulation for the proposed task.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127789123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250100
Toyomi Fujita, Taiga Sasaki
The authors developed a novel type of tracked mobile robot which has six legs, hexapod tracked mobile robot. The mechanism enables the robot to not only travel over rough terrain but also accomplish handling tasks by the use of its legs as manipulators. For a typical example, the robot can traverse a large gap while carrying an object in a transportation task. In this paper, the mechanism and design of developed hexapod tracked mobile robot are described. We also consider the motion of traversing a large gap with carrying an object as a hybrid working locomotion by tracks and legs. Several simulations and experiments with the developed robot demonstrated its ability to achieve hybrid locomotion and tasks.
{"title":"Development of hexapod tracked mobile robot and its hybrid locomotion with object-carrying","authors":"Toyomi Fujita, Taiga Sasaki","doi":"10.1109/IRIS.2017.8250100","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250100","url":null,"abstract":"The authors developed a novel type of tracked mobile robot which has six legs, hexapod tracked mobile robot. The mechanism enables the robot to not only travel over rough terrain but also accomplish handling tasks by the use of its legs as manipulators. For a typical example, the robot can traverse a large gap while carrying an object in a transportation task. In this paper, the mechanism and design of developed hexapod tracked mobile robot are described. We also consider the motion of traversing a large gap with carrying an object as a hybrid working locomotion by tracks and legs. Several simulations and experiments with the developed robot demonstrated its ability to achieve hybrid locomotion and tasks.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134543431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250094
M. Abouheaf, W. Gueaieb
The applications of nonholonomic autonomous systems, such as smart cars and wheeled domestic robots, have gained much attention in the scientific and industrial communities. The non-linearities in the kinematics and dynamics of such systems pause many challenges in stabilizing their motion. In this paper, a motion control system with local and team control objectives is introduced for a flock of nonholonomic vehicles, using bounded input-output feedback linearization. The team control objectives include a navigational control system, which is implemented using smooth state feedback control laws, and a synchronization control system, which is implemented using a smooth position dependent adjacency matrix and communication graph structures. The local control objective involves a collision avoidance scheme, which is implemented using an extended Takagi-Sugeno-Kang fuzzy model. The proposed technique is successfully validated in a numerical simulation with 10 differentialdrive mobile robots.
{"title":"Flocking motion control for a system of nonholonomic vehicles","authors":"M. Abouheaf, W. Gueaieb","doi":"10.1109/IRIS.2017.8250094","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250094","url":null,"abstract":"The applications of nonholonomic autonomous systems, such as smart cars and wheeled domestic robots, have gained much attention in the scientific and industrial communities. The non-linearities in the kinematics and dynamics of such systems pause many challenges in stabilizing their motion. In this paper, a motion control system with local and team control objectives is introduced for a flock of nonholonomic vehicles, using bounded input-output feedback linearization. The team control objectives include a navigational control system, which is implemented using smooth state feedback control laws, and a synchronization control system, which is implemented using a smooth position dependent adjacency matrix and communication graph structures. The local control objective involves a collision avoidance scheme, which is implemented using an extended Takagi-Sugeno-Kang fuzzy model. The proposed technique is successfully validated in a numerical simulation with 10 differentialdrive mobile robots.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132277412","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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