Sabiia Seb
PortuguêsEspañolEnglish
Embrapa
        Busca avançada

Botão Atualizar


Botão Atualizar

Ordenar por: RelevânciaAutorTítuloAnoImprime registros no formato resumido
Registros recuperados: 30
Primeira ... 12 ... Última
Imagem não selecionada

Imprime registro no formato completo
A Generalized Robot Path Planning Approach Without The Cspace Calculation InTech
Yongji Wang; Matthew Cartmell; QingWang; Qiuming Tao.
Tipo: 20 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_generalized_robot_path_planning_approach_without_the_cspace_calculation
Imagem não selecionada

Imprime registro no formato completo
A Pursuit-Rendezvous Approach for Robotic Tracking InTech
Fethi Belkhouche; Boumediene Belkhouche.
We presented a method for robotic navigation and tracking of an unpredictably moving object. Our method is kinematics-based, and combines the pursuit law with the rendezvous law. First a kinematics model is derived. This kinematics model gives the motion of the goal with respect to the robot. The first equation gives the range rate between the robot and its goal. The second equation gives the turning rate of the goal with respect to the robot. The control law is then derived based on this kinematics model. This law is controlled by a real variable, which may be constant or time-varying. The most important properties of the control law are discussed. The dynamic coverage of the target is also discussed, where a second law for the robot's linear velocities...
Tipo: 21 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_pursuit-rendezvous_approach_for_robotic_tracking
Imagem não selecionada

Imprime registro no formato completo
Accurate Color Classification and Segmentation for Mobile Robots InTech
Raziel Alvarez; Erik Millan; Alejandro Aceves-Lopez; Ricardo Swain-Oropeza.
The presented color classification technique shows a good approximation for color subspaces without the need of transforming the color signal of pixels. The produced implicit surface binds tightly the cloud of color samples, reducing possible overlapping problems with other color classes. The use of a look-up table was an efficient method that allows the classification of a single pixel with a single lookup on a 3D array. In addition, evaluation of this algorithm under varying lighting conditions showed a better color classification than that produced by other color classification methods. The main reason behind this benefit is the tight approximation of the color class to the cloud of
Tipo: 8 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/accurate_color_classification_and_segmentation_for_mobile_robots
Imagem não selecionada

Imprime registro no formato completo
Autonomous Navigation of Indoor Mobile Robot Using Global Ultrasonic System InTech
Soo-Yeong Yi; Byoung-Wook Choi.
In this chapter, the global ultrasonic system with an EKF algorithm is presented for the selflocalization of an indoor mobile robot. Also, the performance of the autonomous navigation based on the self-localization system is thus verified through various experiments. The global ultrasonic system consists of four or more ultrasonic generators fixed at known positions in the workspace, two receivers mounted on the mobile robot, and RF modules added to the ultrasonic sensors. By controlling the ultrasonic signal generation through the RF channel, the robot can synchronize and measure the distance between the ultrasonic generators and receivers, thereby estimating its own position and heading angle. It is shown
Tipo: 17 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/autonomous_navigation_of_indoor_mobile_robot_using_global_ultrasonic_system
Imagem não selecionada

Imprime registro no formato completo
Comparative Analysis of Mobile Robot Localization Methods Based on Proprioceptive and Exteroceptive Sensors InTech
Gianluca Ippoliti; Leopoldo Jetto; Sauro Longhi; Andrea Monteriu.
1
Tipo: 11 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/comparative_analysis_of_mobile_robot_localization_methods_based_on_proprioceptive_and_exteroceptive_
Imagem não selecionada

Imprime registro no formato completo
Composite Models for Mobile Robot Offline Path Planning InTech
Ellips Masehian; M. R. Amin-Naseri.
This chapter introduces two new offline path planning models which are based on the Roadmap and Potential Fields classic motion planning approaches. It is shown that how some relatively old methods can combine and yield new models. The first path planning model is established based on two traditional methods: the Voronoi Diagrams and Potential Fields, and so is called V-P Hybrid model. The model integrates the advantages of Voronoi diagram's safest distance and Potential Fields' search simplicity properties. After constructing the Generalized Voronoi Graph roadmap for the workspace, it is reduced to the Pruned Generalized Voronoi Graph (PGVG) through a pruning procedure. The PGVG decreases the search time effectively. An attractive potential is then...
Tipo: 12 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/composite_models_for_mobile_robot_offline_path_planning
Imagem não selecionada

Imprime registro no formato completo
Contour Extraction and Compression-Selected Topics InTech
Andrzej Dziech.
1
Tipo: 10 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/contour_extraction_and_compression-selected_topics
Imagem não selecionada

Imprime registro no formato completo
Distance Feedback Travel Aid Haptic Display Design InTech
Hideyasu Sumiya.
This chapter aims at the user-friendly ETA design. As a preliminary information, several tactile characteristics including sensing range, sensitivity, dynamic factors are introduced, which are critical to design tactile/haptic device. In the latter half of this chapter, an example model of recent ETA design is introduced along the user-friendly real-time operation. Current ETA system are still on the process to gives satisfactory level of environmental reconstruction for user. Even under restriction of tactile charcterists, this design concept will give some hint to create new device to activate human's sensitivity. (e.g. magnification of sensing resolution, extending human sense). Recent studies of sensory substitution system has another aspect to extend...
Tipo: 18 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/distance_feedback_travel_aid_haptic_display_design
Imagem não selecionada

Imprime registro no formato completo
Effective Method for Autonomous Simultaneous Localization and Map Building in Unknown Indoor Environments InTech
Y.L. Ip; A.B. Rad; Y.K. Wong.
In this chapter, a new autonomous exploration strategy for mobile robot was presented and extensively tested via simulation and experimental trials. The essential mechanisms used included a HFFS reactive navigation scheme, EAFC map extraction algorithm, SLAM process, an open space evaluation system cooperating with probability theory and Bayesian update rule and a novel navigation point generation system. The proposed autonomous exploration algorithm is a version of combination of a robust reactive navigation scheme and approaching the unknown strategy which ensure that the mobile robot to explore the entire region in an unknown environment automatically.
Tipo: 23 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/effective_method_for_autonomous_simultaneous_localization_and_map_building_in_unknown_indoor_environ
Imagem não selecionada

Imprime registro no formato completo
Efficient Data Association Approach to Simultaneous Localization and Map Building InTech
Sen Zhang; Lihua Xie; Martin David Adams.
This chapter presented a data association algorithm for SLAM which offers a good trade-off between accuracy and computational requirements. We first formulated the data association problem in SLAM as a two dimensional assignment problem. In our work, only 1 frame of scan data is considered. The data association problem in SLAM is formulated as a two dimensional assignment problem rather than a three dimensional one which is an NP hard problem and is computationally more efficient. Further, since only one step prediction is involved, the effect of the vehicle model uncertainty is smaller as compared to the data association methods using two frame scan data. In order to obtain a fast solution, the 0-1 IP problem was firstly relaxed to an LP problem. Then we...
Tipo: 19 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/efficient_data_association_approach_to_simultaneous_localization_and_map_building
Imagem não selecionada

Imprime registro no formato completo
Global Navigation of Assistant Robots using Partially Observable Markov Decision Processes InTech
Maria Elena Lopez; Rafael Barea; Luis Miguel Bergasa; Manuel Ocana; Maria Soledad Escudero.
The proposed navigation system, based on a topological representation of the world, allows the robot to robustly navigate in corridor and structured environments. This is a very practical issue in assistance applications, in which robots must perform guidance missions from room to room in environments typically structured in corridors and rooms, such as hospitals or nursing homes. Although the topological map consists of very simple and reduced information about the environment, a set of robust local navigation behaviors (the actions of the model) allow the robot to locally move in corridors, reacting to sensor information and avoiding collisions, without any previous metric information. Another important subject in robot navigation is robustness in...
Tipo: 13 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/global_navigation_of_assistant_robots_using_partially_observable_markov_decision_processes
Imagem não selecionada

Imprime registro no formato completo
Intelligent Control of AC Induction Motors InTech
Hosein Marzi.
The simulation consists of four main components, the fuzzy controller, AC motor, the cart and the inverted pendulum, Figure 5. The cart passes the fuzzy controller four parameters , , X, V. Based on these four parameters the fuzzy controller outputs a voltage to the motor. The motor in turn calculates the force that will be exerted on the cart. The system then calculates the new values for parameters , , X, V and the cycle will be repeated.
Tipo: 27 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/intelligent_control_of_ac_induction_motors
Imagem não selecionada

Imprime registro no formato completo
Intelligent Global Vision for Teams of Mobile Robots InTech
Jacky Baltes; John Anderson.
This chapter has reviewed some of the issues involved in creating pragmatic global vision systems. We have discussed the assumptions on which traditional systems are based, pointed out how these differ with the observed abilities of human vision, and described how these assumptions limit the applicability and generality of existing systems. We then described techniques that allow some of these assumptions to be discarded, and the embodiment of these techniques in our production global vision systems, Doraemon and Ergo. Both Doraemon and Ergo are used in a number of ways. Doraemon has been in use every year by a number of teams from around the world in the F-180 (small-size) league at RoboCup. Ergo is the current global vision system in use in our own...
Tipo: 9 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/intelligent_global_vision_for_teams_of_mobile_robots
Imagem não selecionada

Imprime registro no formato completo
Motion Planning and Reconfiguration for Systems of Multiple Objects InTech
Adrian Dumitrescu.
The different reconfiguration models discussed in this survey have raised new interesting mathematical questions and revealed surprising connections with other older ones. For instance the key ideas in the reconfiguration algorithm in [18] were derived from the properties of a system of maximal cycles, similar to those of the block decomposition of graphs [16]. The lower bound configuration with unit disks for the sliding model in [5] uses "rigidity" considerations and properties of stable packings of disks studied a long time ago by B?r?czky [7]; in particular, he showed that there exist stable systems of unit disks with arbitrarily small density. A suitable modification of his construction yields our lower bound. The study of the lifting model offered...
Tipo: 24 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/motion_planning_and_reconfiguration_for_systems_of_multiple_objects
Imagem não selecionada

Imprime registro no formato completo
Multi Robotic Conflict Resolution by Cooperative Velocity and Direction Control InTech
Satish Pedduri; K. Madhava Krishna.
A method by which the velocity and orientation axis of the robot can be dissected into various portions and these portions labeled as conflict free or conflicting with a particular set of robots, unreachable and reachable is presented. The conflict free intervals along the axis that are also represent the solution space for the robot. When the entire reachable space is conflicting with one or more robots it points to the need for cooperation between robots. For a pair of robots that are in conflict with one another and either of them unable to resolve the conflict individually plot of the joint solution space demarcates area where cooperative change of velocities or directions can result in collision freeness. For a pair of robots the entire solution space...
Tipo: 29 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/multi_robotic_conflict_resolution_by_cooperative_velocity_and_direction_control
Imagem não selecionada

Imprime registro no formato completo
Obstacle Detection Based on Fusion Between Stereovision and 2D Laser Scanner InTech
Raphael Labayrade; Dominique Gruyer; Cyril Royere; Mathias Perrollaz; Didier Aubert.
Tipo: 5 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/obstacle_detection_based_on_fusion_between_stereovision_and_2d_laser_scanner
Imagem não selecionada

Imprime registro no formato completo
One Approach to the Fusion of Inertial Navigation and Dynamic Vision InTech
Stevica Graovac.
The algorithm of fusion of data originating from the strap-down inertial navigation system (INS) and the dynamic vision based visual navigation system (VNS) has been suggested for the general case when the appropriate landmarks are in the field of a TV camera's view. The procedure is of weighted averaging type, allowing the adjustment of weighting factors having in mind the physical nature of errors characterizing both systems and according to the self-evaluation of some intermediate estimates made inside the VNS. The overall procedure could be reasonably reduced according to the particular application and to some
Tipo: 3 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/one_approach_to_the_fusion_of_inertial_navigation_and_dynamic_vision
Imagem não selecionada

Imprime registro no formato completo
Optical Three-Axis Tactile Sensor InTech
M. Ohka.
In this chapter, mechanism and evaluation of the optical three-axis tactile sensor are described to show sensing characteristics on three components of force vector applied to the sensing element. Then, recognition method for subtle convex portions of flat plate is presented to show effective of the present method using a series of experiments. In future work, the author plans to mount the present three-axis tactile sensors on a micro and robotic fingers to perform verification experiments and will perform edge tracing of an object and object manipulation. In these experiments, the presented recognition method will be effective to determine subtle concave and convex portions located on any surfaces.
Tipo: 6 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/optical_three-axis_tactile_sensor
Imagem não selecionada

Imprime registro no formato completo
Optimal Path Planning of Multiple Mobile Robots for Sample Collection on a Planetary Surface InTech
J.C. Cardema; P.K.C. Wang.
In this work, we gave mathematical formulations of the sample collection problem for single and multiple robots as optimization problems. These problems are more complex than the well-known NP-hard Traveling Salesman Problem. In order to gain some insight on the nature of the solutions, algorithms are developed for solving simplified versions of these problems. This study has been devoted to centralized operation. If communication between the rovers is considered, as in autonomous operation, the nature of the result will be different. The problem posed here is simplified to facilitate mathematical formulation. To determine whether the strategies and algorithms discussed in this paper
Tipo: 28 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/optimal_path_planning_of_multiple_mobile_robots_for_sample_collection_on_a_planetary_surface
Imagem não selecionada

Imprime registro no formato completo
Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments InTech
Maria Prado.
A method to compute velocity, acceleration and deceleration upper boundary functions for WMRs is described in this chapter. These functions confine the operating variables into safety regions in order to generate trajectories that are feasible, safe and with low tracking errors. The method first deals with issues related to the performances of steering, tractive and braking subsystems of wheeled robots, as well as mechanical properties of wheelground contact. Next, the motion capabilities of the robot's guide point are calculated as functions of the previous results, attending to the kinematics and dynamics of the complete robot system. Operational constraints caused by the need for fitting and synchronising the robot's motion with its environment are also...
Tipo: 16 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/optimal_velocity_planning_of_wheeled_mobile_robots_on_specific_paths_in_static_and_dynamic_environme
Registros recuperados: 30
Primeira ... 12 ... Última
 

Empresa Brasileira de Pesquisa Agropecuária - Embrapa
Todos os direitos reservados, conforme Lei n° 9.610
Política de Privacidade
Área restrita

Embrapa
Parque Estação Biológica - PqEB s/n°
Brasília, DF - Brasil - CEP 70770-901
Fone: (61) 3448-4433 - Fax: (61) 3448-4890 / 3448-4891 SAC: https://www.embrapa.br/fale-conosco

Valid HTML 4.01 Transitional