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Deep learning based curb detection with Lidar

High Technology Letters 2022年第3期28卷 272-279页

作者： WANG Xiaohua LIAO Zhonghe MA Pin miao zhonghua School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444P.R.China

Curb detection provides road boundary information and is important to road ***,curb detection is challenging due to the problems such as various curb shapes,colour,*** this work,a novel learning-based method for curb detection is proposed using Lidar point clouds,considering that Lidars are not sensitive to illumination and are relatively stable to weather conditions.A deep neural network,named EdgeNet,is constructed and trained,which handles point clouds in an end-to-end *** EdgeNet is properly trained,curb points are then segmented in the neural network *** order to train,a curb point annotation algorithm is also designed to generate training *** curb detection method works well with different road scenarios including *** experimental results validate the effectiveness and robustness of this curb detection method.

关键词： curb detection EdgeNet curb annotation algorithm

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Multi-Objective Teaching-Learning-Based Optimizer for a Multi-Weeding Robot Task Assignment Problem

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Tsinghua Science and Technology 2024年第5期29卷 1249-1265页

作者： Nianbo Kang zhonghua miao Quan-Ke Pan Weimin Li M.Fatih Tasgetiren School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China School of Computer Engineering and Science Shanghai UniversityShanghai 200444China Industrial Engineering Department Baskent UniversityAnkara 06790Türkiye

With the emergence of the artificial intelligence era,all kinds of robots are traditionally used in agricultural ***,studies concerning the robot task assignment problem in the agriculture field,which is closely related to the cost and efficiency of a smart farm,are ***,a Multi-Weeding Robot Task Assignment(MWRTA)problem is addressed in this paper to minimize the maximum completion time and residual herbicide.A mathematical model is set up,and a Multi-Objective Teaching-Learning-Based Optimization(MOTLBO)algorithm is presented to solve the *** the MOTLBO algorithm,a heuristicbased initialization comprising an improved Nawaz Enscore,and Ham(NEH)heuristic and maximum loadbased heuristic is used to generate an initial population with a high level of quality and *** effective teaching-learning-based optimization process is designed with a dynamic grouping mechanism and a redefined individual updating rule.A multi-neighborhood-based local search strategy is provided to balance the exploitation and exploration of the ***,a comprehensive experiment is conducted to compare the proposed algorithm with several state-of-the-art algorithms in the *** results demonstrate the significant superiority of the proposed algorithm for solving the problem under consideration.

关键词： genetic algorithm heuristic algorithm Multi-Weeding Robot Task Assignment(MWRTA) teaching optimization algorithm

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Adaptive Dynamic Programming for Nonlinear Impulse Systems 36

Adaptive Dynamic Programming for Nonlinear Impulse Systems

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第36届中国控制会议

作者： Xiaohua Wang Yanru Lian zhonghua miao School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Power Station Automation Technology of Shanghai University

ISBN: (纸本)9781538629185

Impulse systems describe impulsive phenomena and consider instantaneous impact on the states of the system. Optimal control of nonlinear impulse system hardly obtains analytical solutions considering the impulse nature. A new numerical algorithm based Adaptive dynamic programming（ADP） herein provides numerical approximation to the optimal control solutions. The difficulty designing ADP algorithm in such system lies in the policy update part. Variational method is adopted for policy update between two consecutive impulses. Simulations are presented for algorithm validations.

关键词： Nonlinear Fixed-time Impulse Systems Optimal Control Adaptive Dynamic Programming(ADP) Variational Method

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Improved Fx-VSSLMS algorithm for active vibration control of smart cantilever beam

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High Technology Letters 2020年第1期26卷 44-52页

作者： Fang Yubin Zhu Xiaojin Li Xiangmin miao zhonghua Gao Zhiyuan Zhang Hesheng School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200072P.R.China

Filtered-x least mean square(Fx-LMS) algorithm is popular in many adaptive processes. As its contradiction between convergence speed and stead-state error, the improvements of Fx-LMS algorithm with variable step size(VSS) have been developed. To strengthen the robustness of variable step size least mean square(VSSLMS) algorithms to noise disturbance in active vibration control(AVC) application, nine VSSLMS algorithms are introduced in detail. Then an improved VSSLMS algorithm is proposed for better performance. At last, the performance of these VSSLMS algorithms are compared in AVC experimental system with different noise level. The experimental results verifies the effectiveness and robustness of the proposed VSSLMS algorithm in AVC application.

关键词： active vibration control(AVC) filtered-x least mean square(Fx-LMS) variable step size least mean square(VSSLMS) robustness flexible beam

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Region Reaching Control of Networked Robot Systems 36

Region Reaching Control of Networked Robot Systems

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第36届中国控制会议

作者： Jianling Li Jinwei Yu zhonghua miao Jin Zhou Shanghai Institute of Applied Mathematics and Mechanics Shanghai University School of Mechatronic Engineering and Automation Shanghai University

ISBN: (纸本)9781538629185

This paper investigates the region reaching control problem of networked multi-robot systems modeled by Lagrangian *** primary objective is to develop the concept of region reaching control for single robot for the study of networked multi-robot systems under directed topology *** distributed region reaching control protocols for such networked multirobot systems are first proposed,and then some simple yet generic criteria on the convergence for such protocols are *** is shown that networked multi-robot systems can always reach the desired region under the proposed region reaching control protocols if the directed network topology graph has a directed spanning ***,simulation results are presented to illustrate the effectiveness of the theoretical analysis.

关键词： region reaching control networked multi-robot system distributed control protocol

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Variation Based Shooting Method for the Variable Time Impulsive System Optimization

Variation Based Shooting Method for the Variable Time Impuls...

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第25届中国控制与决策会议

作者： Xiaohua Wang Yao Huang zhonghua miao Hua Wang Department of Automation Shanghai University Shanghai Key Laboratory of Power Station Automation Technology Shanghai University

ISBN: (纸本)9781467355339

This paper proposes a variation based shooting method to solve the variable time impulsive system optimization problem. For the variable time impulsive system optimization, the moments when the impulsive control happens （impulsive moments/impulsive time） are not fixed but a function of the states. Therefore, the impulsive time also needs to be optimized besides the controls. Through the study of the necessary conditions based on the variational calculus, a series of differential equations and a series of impulsive equations are to be satisfied with the boundary constraints, and the impulsive time can be implicitly decided using so called jump condition. This optimization problem is then converted to a two point boundary value（TPBV） problem. Considering both the differential equations and impulsive equations are involved in this TPBV problem, a variation based shooting method is proposed for numerical solutions. By mapping the variations of the final constraints into that of the initial constraints, the initial states and costates can be properly adjusted and the TPBV problem can be iteratively solved. Simulation examples are also presented for illustrative purpose.

关键词： Impulsive System Optimization Necessary Conditions Shooting Method

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Fusion of LDB and HOG for Face Recognition

Fusion of LDB and HOG for Face Recognition

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第37届中国控制会议

作者： Hua Wang DingSheng Zhang zhonghua miao Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics Engineering and AutomationShanghai University

Face Recognition plays a very important role in numerous occasions based on visual security in recent days. The current methods of face recognition are to extract the different features of different faces to distinguish from others, so feature extraction has become a vital step in face recognition. For this reason, this paper presents a new fusion of local difference binary（LDB） and histogram of oriented gradients（HOG） for face recognition. We use LDB descriptor to extract the local pattern features of a face image. At the same time, the edge features of the original image are extracted by using HOG descriptor. The proposed new fusion of features improves the shortcomings of the low accuracy and avoids the problems that the dimension of the general fusion of features is too high. The experimental results on ORL and Yale face database verify the validity of the proposed fusion of features.

关键词： Face recognition Local difference binary Histogram of oriented gradients Fusion of features

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Experimental verification of formation control in nonholonomic multi-mobile robots

Experimental verification of formation control in nonholonom...

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第40届中国控制会议

作者： Dongdong Wang Jin Zhou Chuangxin He zhonghua miao School of Mechatronic Engineering and Automation Shanghai University Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University

Mobile robots is one of the well-known nonholonomic system. A new kinematic consistency controller is proposed for a nonholonomic mobile robot model with an integrated approach of kinematic and torque controllers to accomplish tracking control of the target trajectory. In this paper, the reliability of the controller is demonstrated using simulation software and a two-drive wheel mobile robot experimental platform to validate the controller.

关键词： nonholonomic mobile robots tracking controller experimental validation

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Distributed Consensus Control of Nonlinear Multiagent Systems Satisfying Incremental Quadratic Constraints

Distributed Consensus Control of Nonlinear Multiagent System...

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第40届中国控制会议

作者： Yuchen Qian zhonghua miao Xiaojin Zhu Chuangxin He the School of Macaronic Engineering and Automation Shanghai University

In this paper, we investigate the problem of leaderless consensus control for the multiagent systems with nonlinear dynamics satisfying incremental quadratic constraints. A distributed dynamic consensus protocol, decided by communication among neighboring agents, has been presented to render nonlinear agents consensus by choosing appropriate coupling weights without knowing full state information. Further, extensions to consensus strategies with nonlinear dynamics for the leaderfollowing fashion are also addressed. In contrast to the conventional nonlinear consensus control methodologies, the proposed approach generalizes the Lipschitz condition and the combined condition of one-sided Lipschitz and quadratic inner-boundness conditions to a new generalized type of nonlinearity, which shows us a less conservative result in the Lyapunov proof. Finally,the simulation results for six agents are presented to show the feasibility and effectiveness of the proposed control protocol.

关键词： Distributed consensus control incremental multiplier matrix(δMM) incremental quadratic constraints(δQC) nonlinear multiagent systems

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Intelligent vehicle pedestrian tracking based on YOLOv3 and DASiamRPN

Intelligent vehicle pedestrian tracking based on YOLOv3 and ...

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第40届中国控制会议

作者： Chuangxin He Xu Zhang zhonghua miao Teng Sun School of Mechanical and Electrical Engineering and Automation Shanghai University

In the field of robot and autopilot,aiming at the difficulty that the traditional single target pedestrian tracking algorithm needs manual frame selection,this paper puts forward a pedestrian tracking algorithm which blends YOLOv3 and DASiam RPN to realize the designated pedestrian *** algorithm automatically selects the tracking target through YOLOv3,and then uses the tracking target as the template to input into DASiamRPN for *** real-time pedestrian tracking experiment based on the Kinect camera was carried out,and the tracking effects of SiamRPN,Deepsort,SiamFC and Mosse+KCF algorithms were *** experimental results show that the optimal running speed of DASiamRPN is 34 fps while ensuring the tracking ***,the algorithm has been applied to Bulldog robot based on ROS,and the pedestrian tracking is realized successfully,which verifies the real-time and robustness of the algorithm.

关键词： Pedestrian tracking YOLO DASiamRPN ROS

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