Pub Date : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046480
Minggang Li, Hanxu Sun, Long Ma, Ping Sun
In order to further improve the reliability of the spherical robot and enrich its motion forms, a fully driven single pendulum spherical robot is proposed. An innovative way of kinematic modeling from pendulum to spherical shell is proposed. The velocity Jacobian matrix and the inverse kinematics solution of velocity level in the slope of the spherical robot are given. The simulation results verify the controllability of the spherical robot and the correctness of the kinematic model.
{"title":"Kinematics Analysis of a Fully Driven Single Pendulum Spherical Mobile Robot","authors":"Minggang Li, Hanxu Sun, Long Ma, Ping Sun","doi":"10.1109/ICARCE55724.2022.10046480","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046480","url":null,"abstract":"In order to further improve the reliability of the spherical robot and enrich its motion forms, a fully driven single pendulum spherical robot is proposed. An innovative way of kinematic modeling from pendulum to spherical shell is proposed. The velocity Jacobian matrix and the inverse kinematics solution of velocity level in the slope of the spherical robot are given. The simulation results verify the controllability of the spherical robot and the correctness of the kinematic model.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123159989","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046522
Yutong Li, Zerui Xu, Mizi Sun, Tao Liu, Zheng Chen, R. Qiu
This paper focuses on the type identification and subclass classification of glass based on the chemical composition data of glass artifacts. While many papers have been conducted from the perspective of chemistry majors based on direct machine detection of chemical substances, this paper focuses on the analysis of data on the properties and chemical composition of glass artifacts based on mathematical modeling to develop a two-phase model for glass type identification and subclass classification. Since the application scenario of the model is archaeological species of ancient glass, the glass types considered in this paper are high potassium glass and lead-barium glass, which were widely circulated in ancient China and surrounding countries. Phase I was based on binary logistic regression to determine whether the type of glass artifacts belonged to high potassium glass or lead-barium glass. After testing the test set, the accuracy of type discrimination was 94%. The second phase utilizes SPSS based hierarchical clustering algorithm for subclassification. After that, the appropriate number of subclasses to be divided can be derived based on the folded graph of clustering coefficients derived from the elbow rule. Finally, this paper presents an accuracy test of the model through test subsets and suggests that the idea of using mathematical-statistical modeling methods to analyze the chemical composition of substances can be extended to the studies related to the chemical composition analysis of all artifacts.
{"title":"A Two-phase Type Identification and Subclass Classification Model for Glass Artifacts","authors":"Yutong Li, Zerui Xu, Mizi Sun, Tao Liu, Zheng Chen, R. Qiu","doi":"10.1109/ICARCE55724.2022.10046522","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046522","url":null,"abstract":"This paper focuses on the type identification and subclass classification of glass based on the chemical composition data of glass artifacts. While many papers have been conducted from the perspective of chemistry majors based on direct machine detection of chemical substances, this paper focuses on the analysis of data on the properties and chemical composition of glass artifacts based on mathematical modeling to develop a two-phase model for glass type identification and subclass classification. Since the application scenario of the model is archaeological species of ancient glass, the glass types considered in this paper are high potassium glass and lead-barium glass, which were widely circulated in ancient China and surrounding countries. Phase I was based on binary logistic regression to determine whether the type of glass artifacts belonged to high potassium glass or lead-barium glass. After testing the test set, the accuracy of type discrimination was 94%. The second phase utilizes SPSS based hierarchical clustering algorithm for subclassification. After that, the appropriate number of subclasses to be divided can be derived based on the folded graph of clustering coefficients derived from the elbow rule. Finally, this paper presents an accuracy test of the model through test subsets and suggests that the idea of using mathematical-statistical modeling methods to analyze the chemical composition of substances can be extended to the studies related to the chemical composition analysis of all artifacts.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123467699","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046493
Ze-ping Xiao, Guimin Jia, Bo Shi
Radiotelephony communication has a special grammatical structure and pronunciation, and it is difficult to apply the model of generic speech recognition directly to the field of radiotelephony communication. We propose a Conv1DSlide-Conformer model for speech recognition of radiotelephony communication. The sliding-window attention mechanism is used instead of the self-attention mechanism to improve the decoding speed of the model and increase the adaptability of the model to radiotelephony communication. The convolutional module is used instead of the feedforward neural network module to make the encoder focus more on local information. The improved Conformer model processes the FBANK features of radiotelephony communication and can extract high-dimensional features that better fit the characteristics of radiotelephony communication. The use of concatenated temporal classification (CTC) combined with a data augmentation strategy assists training to speed up convergence during model training and reduce the complexity of model training. Decoding is assisted by CTC and language models to improve the performance of speech recognition. The experimental results show that the improved Conformer speech recognition model in this paper reduces the word error rate to 8.1% and 7.8% on the actual Chinese radiotelephony communication speech dataset.
{"title":"Speech Recognition Model of Civil Aviation Radiotelephony Communication Based on Improved Conformer","authors":"Ze-ping Xiao, Guimin Jia, Bo Shi","doi":"10.1109/ICARCE55724.2022.10046493","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046493","url":null,"abstract":"Radiotelephony communication has a special grammatical structure and pronunciation, and it is difficult to apply the model of generic speech recognition directly to the field of radiotelephony communication. We propose a Conv1DSlide-Conformer model for speech recognition of radiotelephony communication. The sliding-window attention mechanism is used instead of the self-attention mechanism to improve the decoding speed of the model and increase the adaptability of the model to radiotelephony communication. The convolutional module is used instead of the feedforward neural network module to make the encoder focus more on local information. The improved Conformer model processes the FBANK features of radiotelephony communication and can extract high-dimensional features that better fit the characteristics of radiotelephony communication. The use of concatenated temporal classification (CTC) combined with a data augmentation strategy assists training to speed up convergence during model training and reduce the complexity of model training. Decoding is assisted by CTC and language models to improve the performance of speech recognition. The experimental results show that the improved Conformer speech recognition model in this paper reduces the word error rate to 8.1% and 7.8% on the actual Chinese radiotelephony communication speech dataset.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121047123","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046638
Lin Zhao, H. Wang, Zhen-Yu Zhang, Shu-Ming Feng, W. Gu, Xu Shi, Jialiang Miao
The current situation of polluting enterprises is that they are numerous and widely distributed. The traditional supervision means only have regular inspection and public reporting, which is difficult to achieve effective monitoring. Based on the existing hardware of intelligent electricity meters, combined with Internet of things technology, Convolution Recurrent Neural Network, Long Short-Term Memory and other technologies, we build an automatic monitoring system for pollution enterprises based on power data. The system can automatically identify different types of equipment according to the load characteristics. By comparing and analyzing the operation of the enterprise’s pollutant production equipment and pollutant treatment equipment, it can detect the illegal sewage discharge behavior of enterprises in time. The experimental verification shows that the overall recognition mean square error of the model is only 0.5, and the accuracy of the model is higher than that of RNN model and LSTM model. The system can accurately and timely detect violations, filling the regulatory loopholes of the Environmental supervision department for enterprises.
{"title":"Enterprise Pollution Emission Monitoring System Based on Deep Learning of Power Data","authors":"Lin Zhao, H. Wang, Zhen-Yu Zhang, Shu-Ming Feng, W. Gu, Xu Shi, Jialiang Miao","doi":"10.1109/ICARCE55724.2022.10046638","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046638","url":null,"abstract":"The current situation of polluting enterprises is that they are numerous and widely distributed. The traditional supervision means only have regular inspection and public reporting, which is difficult to achieve effective monitoring. Based on the existing hardware of intelligent electricity meters, combined with Internet of things technology, Convolution Recurrent Neural Network, Long Short-Term Memory and other technologies, we build an automatic monitoring system for pollution enterprises based on power data. The system can automatically identify different types of equipment according to the load characteristics. By comparing and analyzing the operation of the enterprise’s pollutant production equipment and pollutant treatment equipment, it can detect the illegal sewage discharge behavior of enterprises in time. The experimental verification shows that the overall recognition mean square error of the model is only 0.5, and the accuracy of the model is higher than that of RNN model and LSTM model. The system can accurately and timely detect violations, filling the regulatory loopholes of the Environmental supervision department for enterprises.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123834951","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 adaptive trajectory tracking control issue of a small quadrotor unmanned aerial vehicle (UAV) is preliminarily concerned and studied in this paper. The mathematic model of quadrotor UAV is firstly expressed in a simple form such that the model uncertainties and unknown external disturbances can be conveniently taken into account. Then, an adaptive sliding mode controller is developed for estimating model uncertainties and unknown external disturbances such that the robust and adaptive controller is obtained to enhance the robustness of the flight controller. It is found that the trajectories will asymptotically track the corresponding desired position and attitude values even under uncertainties and unknown disturbances. Finally, simulations based on the developed control scheme are conducted to demonstrate the effectiveness while faced with the uncertainties and unknown disturbances.
{"title":"Adaptive Position and Attitude Trajectory Tracking Control for a Quadrotor UAV","authors":"Yixuan Tian, Chen Li, Wenshang Yu, Jing-Jing Xiong","doi":"10.1109/ICARCE55724.2022.10046429","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046429","url":null,"abstract":"The adaptive trajectory tracking control issue of a small quadrotor unmanned aerial vehicle (UAV) is preliminarily concerned and studied in this paper. The mathematic model of quadrotor UAV is firstly expressed in a simple form such that the model uncertainties and unknown external disturbances can be conveniently taken into account. Then, an adaptive sliding mode controller is developed for estimating model uncertainties and unknown external disturbances such that the robust and adaptive controller is obtained to enhance the robustness of the flight controller. It is found that the trajectories will asymptotically track the corresponding desired position and attitude values even under uncertainties and unknown disturbances. Finally, simulations based on the developed control scheme are conducted to demonstrate the effectiveness while faced with the uncertainties and unknown disturbances.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125848549","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046654
Yanyan Zhang, S. Wang, Yimeng Yu, Sisi Chen
To obtain some performances of 2-pole parallel magnetized permanent magnet (PM) machines quickly, a subdomain method to calculating the open-circuit magnetic field in such machines is proposed. According to material and structural characteristics, we can divide the solution region into three parts having regular shapes. The permanent magnet is the first subdomain and the air-gap is the second subdomain and the stator slots is the third subdomain. Each subdomain is expressed by corresponding governing function in polar coordinate system. The governing functions in those subdomains are solved by variable separation method to obtain the expressions of vector potential distribution and then the field solutions are obtained using interface conditions between the subdomains. Taking a 2-pole/12-slot parallel magnetized prototype permanent magnet machine as example, the flux density in each subdomain is solved via the proposed subdomain method and the predictions are validated through corresponding finite element (FE) method. The verification results illustrate that the subdomain method can solve the open-circuit magnetic field precisely in slotted 2-pole parallel magnetized PM machines.
{"title":"Analytical Calculation of Magnetic Field in 2-Pole Parallel Magnetized Permanent Magnet Machines","authors":"Yanyan Zhang, S. Wang, Yimeng Yu, Sisi Chen","doi":"10.1109/ICARCE55724.2022.10046654","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046654","url":null,"abstract":"To obtain some performances of 2-pole parallel magnetized permanent magnet (PM) machines quickly, a subdomain method to calculating the open-circuit magnetic field in such machines is proposed. According to material and structural characteristics, we can divide the solution region into three parts having regular shapes. The permanent magnet is the first subdomain and the air-gap is the second subdomain and the stator slots is the third subdomain. Each subdomain is expressed by corresponding governing function in polar coordinate system. The governing functions in those subdomains are solved by variable separation method to obtain the expressions of vector potential distribution and then the field solutions are obtained using interface conditions between the subdomains. Taking a 2-pole/12-slot parallel magnetized prototype permanent magnet machine as example, the flux density in each subdomain is solved via the proposed subdomain method and the predictions are validated through corresponding finite element (FE) method. The verification results illustrate that the subdomain method can solve the open-circuit magnetic field precisely in slotted 2-pole parallel magnetized PM machines.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125910478","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046481
Beiting Yi, Z. Liu
Knowledge graphs are a hot topic in the field of artificial intelligence. From the beginning of Google search to today’s chatbots, big data risk control, securities investment, intelligent medical care, adaptive education and recommendation systems, all are related to knowledge graphs. The popularity of knowledge graphs in the technology field is also increasing year by year. The construction of a knowledge graph mainly involves creating the mirror image of the encyclopedia knowledge base at a certain timestamp. Currently, information is explored so fast that this knowledge will soon become out of date.
{"title":"Knowledge Base Personalized Updation Based on User Profile","authors":"Beiting Yi, Z. Liu","doi":"10.1109/ICARCE55724.2022.10046481","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046481","url":null,"abstract":"Knowledge graphs are a hot topic in the field of artificial intelligence. From the beginning of Google search to today’s chatbots, big data risk control, securities investment, intelligent medical care, adaptive education and recommendation systems, all are related to knowledge graphs. The popularity of knowledge graphs in the technology field is also increasing year by year. The construction of a knowledge graph mainly involves creating the mirror image of the encyclopedia knowledge base at a certain timestamp. Currently, information is explored so fast that this knowledge will soon become out of date.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128235986","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046501
Jiayu Sun, Fangwei Song, Luping Ji
Feature tracker is usually believed to be one of the most important components to the performance influence on a Visual-inertial System (VINS). This paper proposes the VINS-Mask scheme, a more robust feature tracker for monocular VINS through Region of Interest (ROI) masks. It could achieve real-time feature tracking with high accuracy and robustness. Firstly, we propose an edge mask to generate the edge-sensitive feature candidate regions from the incoming image frame. Next, we design an interest point sensitive SuperPoint mask with deep learning framework to obtain repeatable and reliable feature candidate regions. We also dynamically adjust the inflation radius by monitoring the initial status from VINS Initialization module to obtain more accurate ROI masks. Notably, compared with the best baseline approach (i.e., VINS-Mono), our VINS-Mask scheme achieves an average improvement accuracy of 0.068m on the dataset of EuRoc drone. After paper publication, our source codes will be available at https://github.com/sunjia-yuanro/VINS-Mask.git.
{"title":"VINS-Mask: A ROI-mask Feature Tracker for Monocular Visual-inertial System","authors":"Jiayu Sun, Fangwei Song, Luping Ji","doi":"10.1109/ICARCE55724.2022.10046501","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046501","url":null,"abstract":"Feature tracker is usually believed to be one of the most important components to the performance influence on a Visual-inertial System (VINS). This paper proposes the VINS-Mask scheme, a more robust feature tracker for monocular VINS through Region of Interest (ROI) masks. It could achieve real-time feature tracking with high accuracy and robustness. Firstly, we propose an edge mask to generate the edge-sensitive feature candidate regions from the incoming image frame. Next, we design an interest point sensitive SuperPoint mask with deep learning framework to obtain repeatable and reliable feature candidate regions. We also dynamically adjust the inflation radius by monitoring the initial status from VINS Initialization module to obtain more accurate ROI masks. Notably, compared with the best baseline approach (i.e., VINS-Mono), our VINS-Mask scheme achieves an average improvement accuracy of 0.068m on the dataset of EuRoc drone. After paper publication, our source codes will be available at https://github.com/sunjia-yuanro/VINS-Mask.git.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124556471","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046474
Z. Xiong, Liping Chen, J. Ding
Optimal Control Problem (OCP) is a kind of classical problem with the state space equations, containing the optimal trajectory planning problem of robotic manipulators with complicated path constraints. The optimal control method (OCM) which contains direct and indirect methods is efficient to solve this kind of problems. The Pontryagin maximum principle is the core of the indirect method which includes tedious mathematical derivations, and is hard to work with the complex mechanical system. As the result, the direct methods represented by direct collocation method (DCM) are widely used in the engineering field. They transform the original optimal control problem to nonlinear programming problems (NLP), so that the general NLP solver can be used. There are mainly three different methods based on the above direct methods, including convex optimization (CO) methods, numerical integration (NI) methods and dynamic programming (DP) methods. This paper proposes a brand new idea which can streamline the problem description compared to the CO method, extend the general objective function compared to the NI method, and reduce the cost of storage compared to the DP method, and provides a feasible local optimal solution for the problem. In addition, the simulation experiment satisfies the kinodynamic constraints properly, and the validity of the proposed method is confirmed.
{"title":"An Improved Optimal Trajectory Planning Method of Six-axis Robotic Manipulators along Prescribed Path Constraints","authors":"Z. Xiong, Liping Chen, J. Ding","doi":"10.1109/ICARCE55724.2022.10046474","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046474","url":null,"abstract":"Optimal Control Problem (OCP) is a kind of classical problem with the state space equations, containing the optimal trajectory planning problem of robotic manipulators with complicated path constraints. The optimal control method (OCM) which contains direct and indirect methods is efficient to solve this kind of problems. The Pontryagin maximum principle is the core of the indirect method which includes tedious mathematical derivations, and is hard to work with the complex mechanical system. As the result, the direct methods represented by direct collocation method (DCM) are widely used in the engineering field. They transform the original optimal control problem to nonlinear programming problems (NLP), so that the general NLP solver can be used. There are mainly three different methods based on the above direct methods, including convex optimization (CO) methods, numerical integration (NI) methods and dynamic programming (DP) methods. This paper proposes a brand new idea which can streamline the problem description compared to the CO method, extend the general objective function compared to the NI method, and reduce the cost of storage compared to the DP method, and provides a feasible local optimal solution for the problem. In addition, the simulation experiment satisfies the kinodynamic constraints properly, and the validity of the proposed method is confirmed.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125611992","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 : 2022-12-16DOI: 10.1109/ICARCE55724.2022.10046597
Zhe-Kun Jin, Weihua Zhou
This paper presented a mobile robot navigation system based on ROS (Robot Operating System). The hardware structure of mobile robot control system based on ROS was designed, and the core module control principle of bottom and top control system was introduced. The software of robot control system was designed based on hierarchical design, including upper computer control system and chassis control system. A specific prototype was designed, and the experimental results showed that the system not only could control the robot in various ways, but also had the functions of autonomous positioning, mapping and obstacle avoidance navigation. It had the advantages of high control accuracy, low cost, modular design and easy expansion.
{"title":"Design and Implementation of MobileRobot Navigation System Based on ROS Platform","authors":"Zhe-Kun Jin, Weihua Zhou","doi":"10.1109/ICARCE55724.2022.10046597","DOIUrl":"https://doi.org/10.1109/ICARCE55724.2022.10046597","url":null,"abstract":"This paper presented a mobile robot navigation system based on ROS (Robot Operating System). The hardware structure of mobile robot control system based on ROS was designed, and the core module control principle of bottom and top control system was introduced. The software of robot control system was designed based on hierarchical design, including upper computer control system and chassis control system. A specific prototype was designed, and the experimental results showed that the system not only could control the robot in various ways, but also had the functions of autonomous positioning, mapping and obstacle avoidance navigation. It had the advantages of high control accuracy, low cost, modular design and easy expansion.","PeriodicalId":416305,"journal":{"name":"2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)","volume":"20 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113968508","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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