Pub Date : 2018-06-01DOI: 10.1109/ICIST.2018.8426177
Yanning Guo, Pengyu Wang, G. Ma, Chuanjiang Li
This paper investigates the attitude tracking control problem for rigid spacecraft with bounded external disturbance. By combing the terminal sliding-mode technique and the prescribed performance concept, a finite-time control scheme with sliding-mode surface constraint is proposed, whose structure is simpler than the conventional transformed error constraint methods. Then, a saturation function is introduced to the control scheme to eliminate singularity, and the system performance in both the reaching phase and the ideal sliding-mode are studied. Stability analysis shows that the proposed control scheme can make the spacecraft tracking a time-varying desired signal with a finite-time convergence. The effectiveness of the attitude tracking control scheme is evaluated by numerical simulations.
{"title":"Prescribed Performance Based Finite-Time Attitude Tracking Control for Rigid Spacecraft","authors":"Yanning Guo, Pengyu Wang, G. Ma, Chuanjiang Li","doi":"10.1109/ICIST.2018.8426177","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426177","url":null,"abstract":"This paper investigates the attitude tracking control problem for rigid spacecraft with bounded external disturbance. By combing the terminal sliding-mode technique and the prescribed performance concept, a finite-time control scheme with sliding-mode surface constraint is proposed, whose structure is simpler than the conventional transformed error constraint methods. Then, a saturation function is introduced to the control scheme to eliminate singularity, and the system performance in both the reaching phase and the ideal sliding-mode are studied. Stability analysis shows that the proposed control scheme can make the spacecraft tracking a time-varying desired signal with a finite-time convergence. The effectiveness of the attitude tracking control scheme is evaluated by numerical simulations.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115989871","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426181
Dianye Huang, Chenguang Yang, Yongping Pan, Shi‐Lu Dai, Zhaojie Ju
In this paper, a trajectory tracking scheme for robot manipulators with unknown dynamics is investigated, with the consideration of output constraints as well as small bounded external disturbances. Firstly, a modified backstepping control scheme is employed to control the robot manipulators where in the first step of the design a tan-type barrier Lyapunov candidate is chosen in order to tackle the constraint problem. Secondly, the philosophy of dynamic surface control is incorporated to implement the calculation of prediction errors, which can also reduce “explosion of complexity” of the backstepping scheme. In addition, composite learning is introduced for a better estimation of unknown parameters, and for canceling out the uncertainties of the robot manipulators. Stability analysis shows that the proposed control scheme guarantees a small bounded tracking error with parameter convergence in the absence of the stringent persistent excitation condition. Finally, a simulation is conducted and the results demonstrate the superiority of the proposed controller in the aspects of tracking capability and parameter estimation.
{"title":"Composite Learning for Trajectory Tracking Control of Robot Manipulators with Output Constraints","authors":"Dianye Huang, Chenguang Yang, Yongping Pan, Shi‐Lu Dai, Zhaojie Ju","doi":"10.1109/ICIST.2018.8426181","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426181","url":null,"abstract":"In this paper, a trajectory tracking scheme for robot manipulators with unknown dynamics is investigated, with the consideration of output constraints as well as small bounded external disturbances. Firstly, a modified backstepping control scheme is employed to control the robot manipulators where in the first step of the design a tan-type barrier Lyapunov candidate is chosen in order to tackle the constraint problem. Secondly, the philosophy of dynamic surface control is incorporated to implement the calculation of prediction errors, which can also reduce “explosion of complexity” of the backstepping scheme. In addition, composite learning is introduced for a better estimation of unknown parameters, and for canceling out the uncertainties of the robot manipulators. Stability analysis shows that the proposed control scheme guarantees a small bounded tracking error with parameter convergence in the absence of the stringent persistent excitation condition. Finally, a simulation is conducted and the results demonstrate the superiority of the proposed controller in the aspects of tracking capability and parameter estimation.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127490804","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426113
Yiyao Zhang, Yu Zheng, Xinyi Le, Xing Mei
Processing route design is the key of machining process planning. And the determination of key parameters of machining allowance for parts processing is the core of processing route design. In this paper, according to the characteristics of the typical aerospace structural parts processing route, the problem of processing route design of typical ring-frame parts is transformed into determining the machining allowance sequence of turning and milling. Based on the improved Bayesian rough set, a processing route decision method and procedure of typical structural parts are proposed. At modeling time, the set of feature attributes that affect the process needs to be obtained. On the basis of the set, a conditional attribute reduction method and a matching degree calculation method for multi-classification decision attributes are proposed. Finally, an application case is studied based on the ring-frame parts processing data of the rocket. And the results show that the method is feasible and effective.
{"title":"A Processing Route Decision Method for Ring-Frame Parts Based on Improved Bayesian Rough Set","authors":"Yiyao Zhang, Yu Zheng, Xinyi Le, Xing Mei","doi":"10.1109/ICIST.2018.8426113","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426113","url":null,"abstract":"Processing route design is the key of machining process planning. And the determination of key parameters of machining allowance for parts processing is the core of processing route design. In this paper, according to the characteristics of the typical aerospace structural parts processing route, the problem of processing route design of typical ring-frame parts is transformed into determining the machining allowance sequence of turning and milling. Based on the improved Bayesian rough set, a processing route decision method and procedure of typical structural parts are proposed. At modeling time, the set of feature attributes that affect the process needs to be obtained. On the basis of the set, a conditional attribute reduction method and a matching degree calculation method for multi-classification decision attributes are proposed. Finally, an application case is studied based on the ring-frame parts processing data of the rocket. And the results show that the method is feasible and effective.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125642133","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426094
Jie Lian, Yangrui Meng, Li-li Li
This paper focuses on formation control of multiagent systems with obstacle avoidance. A control protocol with bounded constraints is proposed to achieve the prescribed formation, where an exponential decay term is introduced. The convergence of the proposed algorithm is presented based on the barrier Lyapunov function method. In addition, the proposed control protocol can keep agents remaining in communication area with neighbour agents while avoiding obstacles settled in their moving area. Simulations are provided to illustrate the effectiveness of the proposed control law.
{"title":"Formation Control and Obstacle Avoidance for Multi-Agent Systems Using Barrier Lyapunov Functions","authors":"Jie Lian, Yangrui Meng, Li-li Li","doi":"10.1109/ICIST.2018.8426094","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426094","url":null,"abstract":"This paper focuses on formation control of multiagent systems with obstacle avoidance. A control protocol with bounded constraints is proposed to achieve the prescribed formation, where an exponential decay term is introduced. The convergence of the proposed algorithm is presented based on the barrier Lyapunov function method. In addition, the proposed control protocol can keep agents remaining in communication area with neighbour agents while avoiding obstacles settled in their moving area. Simulations are provided to illustrate the effectiveness of the proposed control law.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131532112","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426132
Zheng Yan, Xinyi Le, S. Wen, Jie Lu
This paper presents a neurodynamic model for solving e1 minimization problems for sparse signal reconstruction. The essence of the proposed approach lies in its capability to operate in continuous time, which enables it to outperform most existing iterative e1 -solvers in dynamic environments. The model is described by a goal-seeking recurrent neural network and it evolves according to its deterministic neurodynamics. It is proved that the model globally converges to the optimal solution to the e1 -minimization problem under study. The connection weights of the neural network model are determined by using subgradient projection methods and the activation function is designed based on subdifferential. Due to its simple structure, the hardware implementation of this neurodynamic model is viable and cost-effective, which sheds light on real-time sparse signal recovery via large scale e1 minimization formulations.
{"title":"A Continuous-Time Recurrent Neural Network for Sparse Signal Reconstruction Via ℓ1 Minimization","authors":"Zheng Yan, Xinyi Le, S. Wen, Jie Lu","doi":"10.1109/ICIST.2018.8426132","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426132","url":null,"abstract":"This paper presents a neurodynamic model for solving e1 minimization problems for sparse signal reconstruction. The essence of the proposed approach lies in its capability to operate in continuous time, which enables it to outperform most existing iterative e1 -solvers in dynamic environments. The model is described by a goal-seeking recurrent neural network and it evolves according to its deterministic neurodynamics. It is proved that the model globally converges to the optimal solution to the e1 -minimization problem under study. The connection weights of the neural network model are determined by using subgradient projection methods and the activation function is designed based on subdifferential. Due to its simple structure, the hardware implementation of this neurodynamic model is viable and cost-effective, which sheds light on real-time sparse signal recovery via large scale e1 minimization formulations.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133083182","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426065
Li Xu, Ning Wang, H. Bao, Quan Xu, Mo Chen, B. Bao
This paper presents a new third-order generalized memristor-based chaotic circuit, in which the generalized memristor is equivalently implemented by a common diode-bridge cascaded with an inductor. Mathematical model is established and its equilibrium stability is analyzed. The dynamical properties of the memristive chaotic circuit are disposed by MATLAB numerical simulations and confirmed by breadboard experimental measurements. The presented memristive chaotic circuit is very simple and only third-order but can emerge complex dynamics with chaos, period, and coexisting bifurcation modes.
{"title":"Third-Order Generalized Memristor-Based Chaotic Circuit and its Complex Dynamics","authors":"Li Xu, Ning Wang, H. Bao, Quan Xu, Mo Chen, B. Bao","doi":"10.1109/ICIST.2018.8426065","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426065","url":null,"abstract":"This paper presents a new third-order generalized memristor-based chaotic circuit, in which the generalized memristor is equivalently implemented by a common diode-bridge cascaded with an inductor. Mathematical model is established and its equilibrium stability is analyzed. The dynamical properties of the memristive chaotic circuit are disposed by MATLAB numerical simulations and confirmed by breadboard experimental measurements. The presented memristive chaotic circuit is very simple and only third-order but can emerge complex dynamics with chaos, period, and coexisting bifurcation modes.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115767733","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426136
J. S. Ubhi, A. Tomar, Mukesh Kumar
Most of the signals encountered in real world are analog in nature. Analog-to-digital converters are needed for conversion of an analog signal into digital signal. These converters can be implemented by using different available architectures. The performance of a converter is mainly analyzed based on its speed, area and power. Selection of a particular architecture totally depends upon its application. In this paper, the focus is on dynamic power, static power and delay of an ADC. Threshold Modified Comparator Circuit (TMCC) is used to reduce power dissipation. The work includes use of Self Controllable Voltage Level (SVL) technique to design a flash ADC for reduction of the leakage power. The simulation results of such ADC have been compared at 180 nm and at 45 nm technology. The proposed ADC has 41.12 μW dynamic power dissipation at 10 MHz frequency and 2.12 n W static power dissipation for 1.8 V at 45nm technology node. This data gets reduced to 1.866 μW dynamic power dissipation at the same frequency and static power gets reduced to 119.3 pW for 1.1V at 45nm. The software used for the designing and analysis purpose is Cadence Virtuoso version IC6.1.5.500.14.
现实世界中遇到的大多数信号本质上都是模拟信号。将模拟信号转换为数字信号需要模数转换器。这些转换器可以通过使用不同的可用架构来实现。主要从速度、面积和功率三个方面分析了变换器的性能。特定架构的选择完全取决于它的应用。本文重点讨论了ADC的动态功率、静态功率和时延。采用阈值修正比较电路(TMCC)降低功耗。该工作包括利用自可控电压电平(SVL)技术设计一个闪光ADC，以降低泄漏功率。并对该ADC在180 nm和45 nm工艺下的仿真结果进行了比较。该ADC在10mhz频率下的动态功耗为41.12 μW，在45nm技术节点上1.8 V时的静态功耗为2.12 n W。在相同频率下，动态功耗降为1.866 μW，静态功耗降为119.3 pW，电压为1.1V，波长为45nm。设计分析使用的软件为Cadence Virtuoso版本IC6.1.5.500.14。
{"title":"Low Power 3-Bit Flash ADC Design with Leakage Power Reduction at 45 nm Technology","authors":"J. S. Ubhi, A. Tomar, Mukesh Kumar","doi":"10.1109/ICIST.2018.8426136","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426136","url":null,"abstract":"Most of the signals encountered in real world are analog in nature. Analog-to-digital converters are needed for conversion of an analog signal into digital signal. These converters can be implemented by using different available architectures. The performance of a converter is mainly analyzed based on its speed, area and power. Selection of a particular architecture totally depends upon its application. In this paper, the focus is on dynamic power, static power and delay of an ADC. Threshold Modified Comparator Circuit (TMCC) is used to reduce power dissipation. The work includes use of Self Controllable Voltage Level (SVL) technique to design a flash ADC for reduction of the leakage power. The simulation results of such ADC have been compared at 180 nm and at 45 nm technology. The proposed ADC has 41.12 μW dynamic power dissipation at 10 MHz frequency and 2.12 n W static power dissipation for 1.8 V at 45nm technology node. This data gets reduced to 1.866 μW dynamic power dissipation at the same frequency and static power gets reduced to 119.3 pW for 1.1V at 45nm. The software used for the designing and analysis purpose is Cadence Virtuoso version IC6.1.5.500.14.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115234263","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426161
Ning Wang, Yuncheng Gao, Zhongjiu Zheng, Hong Zhao, Jianchuan Yin
In this paper, a hybrid path-planning scheme that combines global A* algorithm with local dynamic window based collision avoidance is proposed for an unmanned surface vehicle (USV) in complex environment. Considering the way-points tracking in maritime applications, the A* algorithm with post-smoothed (A* PS) method is employed to reduce the number of way-points, and thereby contributing to plan a shortest path without constraining on grids. The local collision avoidance is realized by the Dynamic Window approach which takes the motion dynamics of the USV into account. Furthermore, a virtual safety zone pertaining to the shape of the obstacle is established to ensure reliable navigation at high speed. Simulation studies demonstrate that the proposed global-local hybrid path-planning scheme achieves remarkable performance and superiority in path planning with obstacle avoidance.
{"title":"A Hybrid Path-Planning Scheme for an Unmanned Surface Vehicle","authors":"Ning Wang, Yuncheng Gao, Zhongjiu Zheng, Hong Zhao, Jianchuan Yin","doi":"10.1109/ICIST.2018.8426161","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426161","url":null,"abstract":"In this paper, a hybrid path-planning scheme that combines global A* algorithm with local dynamic window based collision avoidance is proposed for an unmanned surface vehicle (USV) in complex environment. Considering the way-points tracking in maritime applications, the A* algorithm with post-smoothed (A* PS) method is employed to reduce the number of way-points, and thereby contributing to plan a shortest path without constraining on grids. The local collision avoidance is realized by the Dynamic Window approach which takes the motion dynamics of the USV into account. Furthermore, a virtual safety zone pertaining to the shape of the obstacle is established to ensure reliable navigation at high speed. Simulation studies demonstrate that the proposed global-local hybrid path-planning scheme achieves remarkable performance and superiority in path planning with obstacle avoidance.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114303809","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426137
Bin Zhang, Zhouhua Peng, Dan Wang, Nan Gu, Lu Liu, Shuai Ren
This paper considers the state estimation problem of a robotic unmanned surface vehicle by using Global Positioning System (GPS) and inertial measurement unit (IMU) measurements. Firstly, the kinematic strapdown equations are developed for marine vehicles based on the experimental platform. Then, two nonlinear observers are proposed to estimate the position and velocity information of marine vehicles via loosely coupled GPS/IMU integration. One is based on the measurements of the position, velocity and acceleration, and the other is based on the measurements of the position and acceleration. For both nonlinear observers, the origin of the closed-loop systems are shown to be globally asymptotically stable. Finally, the results of simulations and experiments are given to verify the effectiveness of the two nonlinear observers.
{"title":"Nonlinear Observer Design for a Robotic Unmanned Surface Vehicle Using GPS and IMU Measurements with Experimental Results","authors":"Bin Zhang, Zhouhua Peng, Dan Wang, Nan Gu, Lu Liu, Shuai Ren","doi":"10.1109/ICIST.2018.8426137","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426137","url":null,"abstract":"This paper considers the state estimation problem of a robotic unmanned surface vehicle by using Global Positioning System (GPS) and inertial measurement unit (IMU) measurements. Firstly, the kinematic strapdown equations are developed for marine vehicles based on the experimental platform. Then, two nonlinear observers are proposed to estimate the position and velocity information of marine vehicles via loosely coupled GPS/IMU integration. One is based on the measurements of the position, velocity and acceleration, and the other is based on the measurements of the position and acceleration. For both nonlinear observers, the origin of the closed-loop systems are shown to be globally asymptotically stable. Finally, the results of simulations and experiments are given to verify the effectiveness of the two nonlinear observers.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123882616","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 : 2018-06-01DOI: 10.1109/ICIST.2018.8426139
Fei Yan, Guojian He, Yan Zhuang, Huan Chang
The perception and understanding of the surrounding environment are the foundation of UGV navigation and mapping. This paper proposed a semantic mapping method for UGV in large-scale outdoor environment. The 3D laser point clouds are transformed into 2D optimal depth and vector length graph models. The ODVL images are divided into super pixels, and 20 dimensional texture features are extracted from each super pixel. Based on the texture features, the Gentle-AdaBoost algorithm is used to classify the super pixels to achieve scene understanding. According to result of scene understanding, the environments are divided into scene nodes and road nodes. The semantic map of the outdoor environment is obtained by generating topological relations between the scene nodes and the road nodes. Real semantic map for large-scale outdoor environment is built to verify the effectiveness and practicability of the proposed method.
{"title":"Scene Understanding and Semantic Mapping for Unmanned Ground Vehicles Using 3D Point Clouds","authors":"Fei Yan, Guojian He, Yan Zhuang, Huan Chang","doi":"10.1109/ICIST.2018.8426139","DOIUrl":"https://doi.org/10.1109/ICIST.2018.8426139","url":null,"abstract":"The perception and understanding of the surrounding environment are the foundation of UGV navigation and mapping. This paper proposed a semantic mapping method for UGV in large-scale outdoor environment. The 3D laser point clouds are transformed into 2D optimal depth and vector length graph models. The ODVL images are divided into super pixels, and 20 dimensional texture features are extracted from each super pixel. Based on the texture features, the Gentle-AdaBoost algorithm is used to classify the super pixels to achieve scene understanding. According to result of scene understanding, the environments are divided into scene nodes and road nodes. The semantic map of the outdoor environment is obtained by generating topological relations between the scene nodes and the road nodes. Real semantic map for large-scale outdoor environment is built to verify the effectiveness and practicability of the proposed method.","PeriodicalId":331555,"journal":{"name":"2018 Eighth International Conference on Information Science and Technology (ICIST)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124168166","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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