Accurate real-time kinematics model is very important for the control of a skid-steering mobile robot. In this study, the kinematics model of the skid-steering mobile robots was first designed based on instantaneous rotation centers (ICRs). Then, the extended Kalman filter (EKF) technique was applied to obtain the parameters of ICRs under the same specific terrain online. To adapt to different terrain environments, the fractal dimension-based SFTA (segmentation-based fractal texture analysis) method was used to extract features of different terrains, and the k-nearest neighbor (KNN) method was used to classify the terrains. In the case of real-time terrain recognition, the filter parameters of the EKF for estimating the ICRs are adjusted adaptively. Experiments on a real skid-steering mobile robot show that this method can quickly estimate the kinematics model of the robot in the case of terrain changes, and can meet the needs of practical applications. The average error of odometer estimation based on visual terrain classification is 0.06 m, while the average error of odometer estimation without terrain classification is 0.14 m.
{"title":"Kinematics Model Estimation of 4W Skid-Steering Mobile Robots Using Visual Terrain Classification","authors":"Yang Chen, Yao Wu, Wei Zeng, Shaoyi Du","doi":"10.1155/2023/1632563","DOIUrl":"https://doi.org/10.1155/2023/1632563","url":null,"abstract":"Accurate real-time kinematics model is very important for the control of a skid-steering mobile robot. In this study, the kinematics model of the skid-steering mobile robots was first designed based on instantaneous rotation centers (ICRs). Then, the extended Kalman filter (EKF) technique was applied to obtain the parameters of ICRs under the same specific terrain online. To adapt to different terrain environments, the fractal dimension-based SFTA (segmentation-based fractal texture analysis) method was used to extract features of different terrains, and the k-nearest neighbor (KNN) method was used to classify the terrains. In the case of real-time terrain recognition, the filter parameters of the EKF for estimating the ICRs are adjusted adaptively. Experiments on a real skid-steering mobile robot show that this method can quickly estimate the kinematics model of the robot in the case of terrain changes, and can meet the needs of practical applications. The average error of odometer estimation based on visual terrain classification is 0.06 m, while the average error of odometer estimation without terrain classification is 0.14 m.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136062930","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":"Retracted: Research on the Detection Countermeasures of Telecommunication Network Fraud Based on Big Data for Killing Pigs and Plates","authors":"Journal of Robotics","doi":"10.1155/2023/9860830","DOIUrl":"https://doi.org/10.1155/2023/9860830","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136306721","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":"Retracted: Evaluation of the Students’ Learning Status in the Foreign Language Classroom Based on Machine Vision","authors":"Journal of Robotics","doi":"10.1155/2023/9857401","DOIUrl":"https://doi.org/10.1155/2023/9857401","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48337179","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":"Retracted: Recognition and Modeling of Crisis Propagation Patterns Combined with Robot Simulation of Social Networks","authors":"Journal of Robotics","doi":"10.1155/2023/9768653","DOIUrl":"https://doi.org/10.1155/2023/9768653","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43496535","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 precise tracking control problem for the robotic manipulator with flexible joints, subjected to system uncertainties and external disturbances, is addressed. A novel control scheme is presented that does not use link velocity measurements and high-order derivatives of the link states. The control scheme employs neural networks-based observers to estimate both motor velocity and link velocity. By using the virtually applied torque, the link controller is designed based on rigid link dynamics, and the motor controller is designed using the dynamic surface control technique. The proposed control scheme can guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The simulation results confirm our theoretical analysis, and a comparison study demonstrates the advantages of the proposed control scheme compared to the standard DSC method.
{"title":"Design of a Novel NNs Learning Tracking Controller for Robotic Manipulator with Joints Flexibility","authors":"Pengxiao Jia","doi":"10.1155/2023/1186719","DOIUrl":"https://doi.org/10.1155/2023/1186719","url":null,"abstract":"The precise tracking control problem for the robotic manipulator with flexible joints, subjected to system uncertainties and external disturbances, is addressed. A novel control scheme is presented that does not use link velocity measurements and high-order derivatives of the link states. The control scheme employs neural networks-based observers to estimate both motor velocity and link velocity. By using the virtually applied torque, the link controller is designed based on rigid link dynamics, and the motor controller is designed using the dynamic surface control technique. The proposed control scheme can guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The simulation results confirm our theoretical analysis, and a comparison study demonstrates the advantages of the proposed control scheme compared to the standard DSC method.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43172361","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":"Retracted: A Russian Continuous Speech Recognition System Based on the DTW Algorithm under Artificial Intelligence","authors":"Journal of Robotics","doi":"10.1155/2023/9832350","DOIUrl":"https://doi.org/10.1155/2023/9832350","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47411575","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":"Retracted: Deep Learning BP Neural Network Guided Evaluation of Students’ Innovation and Entrepreneurship Education","authors":"Journal of Robotics","doi":"10.1155/2023/9845964","DOIUrl":"https://doi.org/10.1155/2023/9845964","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47109783","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":"Retracted: Multiscale Motion Detection and Recognition Combining Still Images and Video Sequences","authors":"Journal of Robotics","doi":"10.1155/2023/9896453","DOIUrl":"https://doi.org/10.1155/2023/9896453","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":"1 1","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41363702","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":"Retracted: The Evaluation of Visual Clarity and Comfort of Light Environment in Multimedia Classroom","authors":"Journal of Robotics","doi":"10.1155/2023/9807401","DOIUrl":"https://doi.org/10.1155/2023/9807401","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47732023","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":"Retracted: Discussion on Redundant Processing Algorithm of Association Rules Based on Hypergraph in Data Mining","authors":"Journal of Robotics","doi":"10.1155/2023/9789505","DOIUrl":"https://doi.org/10.1155/2023/9789505","url":null,"abstract":"<jats:p />","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47779900","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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