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第36届中国控制会议

作者： Qi Ding Xiafu Peng Xiaoli Zhang Xiaoqiang Hu xunyu zhong Department of Automation Xiamen University

ISBN: (纸本)9781538629185

This paper presents a novel sensor parameter fault diagnosis method for generally multiple-input mutiple-output(MIMO) affine nonlinear systems based on adaptive ***,the affine nonlinear systems are transformed into the particular systems via diffeomoiphic transformation using Lie ***,based on the techniques of high-gain observer and adaptive estimation,an adaptive observer structure is designed with simple method for jointly estimating the states and the unknown parameters in the output equation of the nonlinear *** an algorithm of the fault estimation is *** global exponential convergence of the proposed observer is proved *** the proposed method can be applied to the fault diagnosis of generally affine nonlinear systems directly by the reversibility of aforementioned coordinate ***,a numerical example is presented to illustrate the efficiency of the proposed fault diagnosis scheme.

关键词： MIMO nonlinear system fault diagnosis adaptive observer sensor

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基于速度变化空间的移动机器人动态避碰规划

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机器人 2009年第6期31卷 539-547页

作者：朱齐丹仲训昱张智哈尔滨工程大学自动化学院黑龙江哈尔滨150001 厦门大学信息科学与技术学院福建厦门361005

研究了移动机器人对运动障碍物的动态避碰.针对以往速度障碍法在动态避碰应用中存在的问题,制订了相应的改进方法.综合考虑障碍物速度的动态变化和碰撞时间、碰撞距离,在速度变化空间中,基于避碰行为动力学原理,设计了新的优化评价函数... 详细信息

研究了移动机器人对运动障碍物的动态避碰.针对以往速度障碍法在动态避碰应用中存在的问题,制订了相应的改进方法.综合考虑障碍物速度的动态变化和碰撞时间、碰撞距离,在速度变化空间中,基于避碰行为动力学原理,设计了新的优化评价函数,采用双障碍物检测窗口进行动态避碰规划.仿真实验表明,该方法有效地克服了避碰规划的保守性,提高了机器人运动的安全性,并能实现对运动目标的及时追踪.

关键词：移动机器人运动规划动态避碰速度障碍

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维普期刊数据库

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Robot Manipulation Using Image-based Visual Servoing Control with Robust State Estimation

Robot Manipulation Using Image-based Visual Servoing Control...

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第30届中国控制与决策会议

作者： zhong Xungao XU Min GUAN Jiansheng zhong xunyu PENG Xiafu School of Electrical Engineering and Automation Xiamen University of Technology High-voltage Key Laboratory of Fujian Province Department of Automation Xiamen University

In unstructured environment,this paper presents an image-based visual servoing control approach with robust state estimation for robot *** image Jacobian on-line identification problems are firstly addressed by introducing neural network(NN) aid Kalman filtering(KF) *** neural network plays exactly the role of the error estimator,to compensate the state-estimation-errors of *** the proposed image-based visual servoing control approach has guaranteed the robustness with respect to destabilized system attached dynamic ***,the presented approach without requiring the intrinsic and extrinsic parameters of the camera,also the hand-eye do without calibrated during robot *** demonstrate the validity and practicality of proposed image-based visual servoing approach,various robot positioning experiment results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.

关键词： Robot Manipulation Visual Servoing Jcobian On-line Estimation Robust State Estimator

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Optical-Flow-Based Visual Servoing for Robotic Moving Control Using Closed-Loop Joints

Optical-Flow-Based Visual Servoing for Robotic Moving Contro...

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第40届中国控制会议

作者： Zetao Yang Xungao zhong Chunxiao Miao Jing Zhao xunyu zhong School of Electrical Engineering and Automation Xiamen University of Technology School of Aerospace Engineering Xiamen University

This paper studied an optical-flow-based visual servoing method for eye-in-hand robotics task manipulation without system ***,considering the object feature points are easy to be lost with the traditional Lucas-Kanade（LK） optical flow method in the process of camera fast *** propose an improved pyramid optical flow tracking algorithm which iterates the vision image by layered,this algorithm obtains a hierarchy image by building a Gaussian pyramid,which can reduce the image motion speed and improve the tracking robust *** this work,we need to use the information obtained in the optical flow tracking process for visual servo control to drive the robot to complete the task manipulation,thus we use joints closed-loop controller and joint-image Jacobian matrix to construct a new visual servoing system for robotic motion control based on improved optical flow ***,we have completed the visual servoing task manipulation on an eye-in-hand uncalibration robotics with six degrees of freedom（six-DOF）.The experimental results show the effectiveness and robustness of the proposed scheme.

关键词： Optical Flow Visual servoing Closed-loop controller

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Detection and Grasping of Texture-Less Objects Based on 3D Template Matching

Detection and Grasping of Texture-Less Objects Based on 3D T...

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第40届中国控制会议

作者： Chunxiao Miao Xungao zhong xunyu zhong Zetao Yang Min Xu School of Electrical Engineering and Automation Xiamen University of Technology School of Aerospace Engineering Xiamen University

This paper studied a robust matching method using 3 D point cloud for texture-less object detection and robotics grasping *** view of the few surface feature points of texture-less objects,the template matching method based on Iterative Closest Point（ICP） improved LINEMOD algorithm is proposed to estimate the object *** our findings,the feature extraction of the LINEMOD algorithm is only carried out at the strong edges of the input image,and does not involve the calculation of internal texture features of the object,which effectively solves the problem of pose estimation for texture-less ***,only using the LINEMOD template matching is likely to cause mismatches,especially for objects with similar local ***,in order to make better use of the point cloud independent of object texture,a common point cloud registration optimization method with ICP is *** ICP optimization happened between the model point cloud and the scene point cloud to improve the results of the pose detection with ***,from the perspective of inverse kinematics of the manipulator,the object to be grasped has been *** robotics experimental results show that our approach has good recognition and grasping accuracy for texture-less objects.

关键词： LINEMOD ICP Texture-Less objects Template matching Inverse kinematics

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Effective Road Lane Detection and Tracking Method Using Line Segment Detector

Effective Road Lane Detection and Tracking Method Using Line...

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第37届中国控制会议

作者： Shiwang Liu Linhong Lu xunyu zhong Jianping Zeng Department of Automation Xiamen University

In this paper,we present an effective lane detection and tracking system using a fusion of Line Segment Detector（LSD） and Kalman *** employ line segment as low-level features to detect lane markings on structured ***,we segment the road surface region through adaptive method,and then a different grayscale method is used to achieve strong contrast than the previous ***,we apply LSD algorithm on them and remove incorrect line segments in an adaptive ***,two Kalman filters are used to track the virtual boundary points,which also be applied to predict the next processed region of interests（ROIs）.Meanwhile,real-time performance can be better *** are conducted on several open datasets which are collected in real-world scenarios,such as Caltech *** results demonstrate the efficiency and the robustness of our DroDosed method.

关键词： lane detection and tracking line segment detector Kalman filter

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基于多分辨率搜索与多点云密度匹配的快速ICP-SLAM方法

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机器人 2020年第5期42卷 583-594页

作者：李鑫仲训昱彭侠夫龚赵慧仲训杲厦门大学自动化系福建厦门361102 厦门理工学院电气工程与自动化学院福建厦门361024

针对激光SLAM(同步定位与地图创建)的实时性和定位精度问题,为了克服初始位姿不准确情况下增大搜索范围和位姿匹配分辨率对实时性的影响,本文在传统ICP-SLAM(迭代最近邻SLAM)基础上进行改进,提出了一种分层搜索与匹配的快速ICP-SLAM方法... 详细信息

针对激光SLAM(同步定位与地图创建)的实时性和定位精度问题,为了克服初始位姿不准确情况下增大搜索范围和位姿匹配分辨率对实时性的影响,本文在传统ICP-SLAM(迭代最近邻SLAM)基础上进行改进,提出了一种分层搜索与匹配的快速ICP-SLAM方法.首先,在搜索范围内采用由粗到细的分辨率进行全局搜索,并通过逐渐增加待匹配点的密度进行分步匹配计算.点云匹配过程中,通过构建距离像计算待匹配点的最近邻距离值,其计算复杂度降低为O(1).其次,通过对点云匹配结果进行优先排序和剪枝,快速排除非最优解.最后,以半数全局最优与全数局部最优原则作为搜索结束判断条件,提高搜索效率.SLAM Benchmark数据集上的测试结果表明,相比于流行的激光SLAM算法Cartographer,所提出的方法取得了更小的平均误差和平方误差,计算效率为Cartographer算法的2~5倍.同时,工业AGV(自动导引车)的实际应用实验验证了在初始位姿未知的情况下,可实现实时的位姿估计与建图,重复定位精度优于1.5 cm.因此,这种快速ICP-SLAM方法能够保证实现准确的定位估计,具有良好的实时性.

关键词：同步定位与地图创建激光雷达多分辨率多点云密度距离像

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维普期刊数据库

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Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM

Online Self-calibration of Camera-IMU External Parameters an...

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第三十九届中国控制会议

作者： Jian Peng xunyu zhong Xiafu Peng Yueliang Li Department of Automation Xiamen University

The positioning accuracy of simultaneous localization and mapping（SLAM） system based on visual and IMU fusion depends on accurate IMU initialization and external parameters between camera and IMU to a large ***,the SLAM system recalibrated when the relative position of the camera and IMU ***,the off-line calibration of the SLAM system is complicated *** solve the problem,a new method of external parameter self-calibration and IMU online initialization ***,the proposed method employs the calibrated stereo camera to avoid the ambiguous-scale of the monocular *** processes are included in our ***,the parameter of external rotation between camera and IMU with the rotation between camera and IMU of two consecutive frames as input is ***,the gyro bias estimated by the obtained external ***,the gravity and the parameter of external translation roughly estimated without considering the accelerometer ***,the gravity and external translation optimized with the accelerometer *** results on datasets demonstrate that the proposed method with stereo VI-SLAM has better performance of positioning accuracy,convergence,and deviation of external parameters than that of the state-of-the-art VINS-mono of the new version.

关键词： Stereo Ⅵ-SLAM Online Self-calibration Initialization

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Stereo Visual Inertial Odometry Using Incremental Smoothing

Stereo Visual Inertial Odometry Using Incremental Smoothing

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第37届中国控制会议

作者： Yueliang Li xunyu zhong Jun Tian Chaosheng Zou Xiafu Peng School of Aerospace Engineering Xiamen University

Visual inertial odometry（VIO） is a technique which estimates the motion of a mobile platform using the measurements from visual and inertial ***,these sensors are made available with higher accuracy,smaller size,but lower cost thanks to the developing manufacturing of chips and micro-electromechanical systems（MEMS） ***,it is very challenging for real-time visual inertial odometry to obtain robust and accurate localization and mapping with the limit of computational *** this paper,we present a stereo visual inertial odometry which pre-integrates IMU measurements to reduce the variables to be optimized and avoid repeated IMU integration during *** addition,incremental smoothing is employed to obtain Maximum A Posteriori（MAP） *** proposed method is shown to achieve high accuracy and efficiency in simulation results.

关键词： Visual inertial odometry stereo camera SLAM motion estimation IMU pre-integration incremental smoothing

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Design and Implementation of New AGV System Based on Two-layer Controller Structure

Design and Implementation of New AGV System Based on Two-lay...

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第37届中国控制会议

作者： Jiawei Liu xunyu zhong Xiafu Peng Jun Tian Chaosheng Zou School of Aerospace Engineering Xiamen University

Automated guided vehicle（AGV） is playing an major role in industrial applications to move materials around a manufacturing facility or *** task complexity increases,however,the traditional design of AGV can’t meet user’s demands any ***,a new AGV control system is introduced in this paper,which is designed by the two-layer controller system *** structure includes the lower computer and the upper computer,which is the main controller with autonomous navigation *** exchange control messages,there is also a special communication protocol between the two *** addition,different algorithms and circuits are designed according to the differences of each task and the characters of two *** implementation approaches are presented in both hardware and algorithms as ***,a series of experiments has been done,and the results show that the AGV from this new two-layer controller system design has perfect performance in motion,localization,path planning and other aspects.

关键词： AGV Two-layer controller system Autonomous navigation Design and implementation

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