{"title":"Several Path-Planning Algorithms Mobile Robot for an Uncertain Workspace and their Evaluation","authors":"Hiroshi Noborio","doi":"10.1109/IMC.1990.687332","DOIUrl":"https://doi.org/10.1109/IMC.1990.687332","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127093515","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}
This paper desbcribes an improvement of a conventional AGV in the following two points: finding a path in complex junctions, and recognition of obstacles on the path. A TV camera is employed to look ahead of the vehicle to find lines in the input image. Centers of the lines are detected by combining dynamic thesholding and differentiation. Center points are detected at several vertical positions, and the arrangement of the lines in the image is classified into several categories: a branch, a crossing, and so on. The second problem is solved by a sort of motion stereo. The motion is obtained from the image of the white lie near the potential obstacle. The height of the obstacle is computed and the decision is made if it is really an obstacle. Some experimental results are shown to verify the proposed methods. The relation to other research themes for realizing AGV for more general environments are discussed.
{"title":"Flexible Path Selection and Obstacle Detection for AGV","authors":"Y. Shirai","doi":"10.1109/IMC.1990.687278","DOIUrl":"https://doi.org/10.1109/IMC.1990.687278","url":null,"abstract":"This paper desbcribes an improvement of a conventional AGV in the following two points: finding a path in complex junctions, and recognition of obstacles on the path. A TV camera is employed to look ahead of the vehicle to find lines in the input image. Centers of the lines are detected by combining dynamic thesholding and differentiation. Center points are detected at several vertical positions, and the arrangement of the lines in the image is classified into several categories: a branch, a crossing, and so on. The second problem is solved by a sort of motion stereo. The motion is obtained from the image of the white lie near the potential obstacle. The height of the obstacle is computed and the decision is made if it is really an obstacle. Some experimental results are shown to verify the proposed methods. The relation to other research themes for realizing AGV for more general environments are discussed.","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116101600","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}
The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, tdeoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, 1,actile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and "machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based pat11 refinement on board, while realtime fusion . of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new in1 elligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.
{"title":"Multisensory Telerobotic Concepts","authors":"G. Hirzinger, J. Dietrich, B. Brunner","doi":"10.1109/IMC.1990.687273","DOIUrl":"https://doi.org/10.1109/IMC.1990.687273","url":null,"abstract":"The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, tdeoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, 1,actile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and \"machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based pat11 refinement on board, while realtime fusion . of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new in1 elligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123846962","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}
{"title":"Integrated H/spl infin/Adaptive Robot Control","authors":"I. Postlethwaite, W. Feng","doi":"10.1109/IMC.1990.687286","DOIUrl":"https://doi.org/10.1109/IMC.1990.687286","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123871889","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}
{"title":"Global Learning Control for Robot Manipulators","authors":"E. Lunde, J. Balchen","doi":"10.1109/IMC.1990.687309","DOIUrl":"https://doi.org/10.1109/IMC.1990.687309","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123233896","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}
{"title":"A Vision-Based Position Control System for a One-Link Flexible Arm","authors":"P. Tang, H.C. Wang, S.S. Lu","doi":"10.1109/IMC.1990.687373","DOIUrl":"https://doi.org/10.1109/IMC.1990.687373","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114541648","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}
{"title":"Evolution of Neural Networks and Application to Motion Control","authors":"Y. Ichikawa","doi":"10.1109/IMC.1990.687324","DOIUrl":"https://doi.org/10.1109/IMC.1990.687324","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114727369","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}
{"title":"Robot Control Research Made Interactive","authors":"J. Sorvari, H. Koivo","doi":"10.1109/IMC.1990.687431","DOIUrl":"https://doi.org/10.1109/IMC.1990.687431","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128024757","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}
This paper presents an approach to the trajectory planning of mobile platforms characterized by non-holonomic constraints and constraints on the steering angle and steering angle rate. The approach is based on geometric reasoning and provides deterministic trajectories for all pairs of initial and final configurations (position x, y, and orientation {theta}) of the robot. Furthermore, the method generates trajectories taking into account the forward and reverse mode of motion of the vehicle, or combination of these when complex maneuvering is involved or when the environment is obstructed with obstacles. The trajectory planning algorithm is described, and examples of trajectories generated for a variety of environmental conditions are presented. The generation of the trajectories only takes a few milliseconds of run time on a micro Vax, making the approach quite attractive for use as a real-time motion planner for teleoperated or sensor-based autonomous vehicles in complex environments. 10 refs., 11 figs.
{"title":"Autonomous Trajectory Generation for Mobile Robots with Non-Holonomic and Steering Angle Constraints","authors":"Frangois G. Pin, H. Vasseur","doi":"10.1109/imc.1990.687333","DOIUrl":"https://doi.org/10.1109/imc.1990.687333","url":null,"abstract":"This paper presents an approach to the trajectory planning of mobile platforms characterized by non-holonomic constraints and constraints on the steering angle and steering angle rate. The approach is based on geometric reasoning and provides deterministic trajectories for all pairs of initial and final configurations (position x, y, and orientation {theta}) of the robot. Furthermore, the method generates trajectories taking into account the forward and reverse mode of motion of the vehicle, or combination of these when complex maneuvering is involved or when the environment is obstructed with obstacles. The trajectory planning algorithm is described, and examples of trajectories generated for a variety of environmental conditions are presented. The generation of the trajectories only takes a few milliseconds of run time on a micro Vax, making the approach quite attractive for use as a real-time motion planner for teleoperated or sensor-based autonomous vehicles in complex environments. 10 refs., 11 figs.","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125642512","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}
{"title":"The Control of an Experimental Robot Arm with Non-Ideal Transmission Elements","authors":"A.G. Smith, J. Hewit","doi":"10.1109/IMC.1990.687366","DOIUrl":"https://doi.org/10.1109/IMC.1990.687366","url":null,"abstract":"","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133963086","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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