Titlebook: Intelligent Robotics and Applications; Third International Honghai Liu,Han Ding,Xiangyang Zhu Conference proceedings 2010 Springer Berlin

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Dual-Quaternion-Based Variable Structure Control: A New Approach and Applicationn matrix. In this paper, we propose a new variable structure control (VSC) based on unit dual quaternion Lie-group for the transformation of rigid-bodies in configuration space. We set up the dynamic model of the rigid-body motion represented by unit dual quaternion after the geometric structure of

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A 3-D Simulation of Unicycle Robot Based on Virtual Prototyping Technologyy provides an avenue for realizing mechatronics system design loop and control system design synchronously without the need for building prototypes. The virtual prototype developed in ADAMS can be used to investigate dynamic behavior in a 3-dimensional environment. Though ADAMS has the capability of

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殘忍

Pursuit Evasion in Dynamic Environments with Visibility Constraintse target visible for the longest time possible, and at the same time, avoid colliding with any of the moving obstacles. This paper presents a solution that is based on the idea of three interacting components which perform: tracking, collision avoidance and motion selection. The proposed solution is

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Wall Following with a Single Ultrasonic Sensorn strategy useful to mobile robotics. Current mobile robots that use ultrasonic sensing to follow walls use multiple sensors and use only range to the nearest reflecting point making assumptions about the reflected echo. In this paper, we describe an advanced wall following algorithm, where the robo

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Experimental Investigation of a Prediction Algorithm for an Indoor SLAM Platformis treated as an optimization problem solve by the Simplex method. The two-dimensional distance transform method is used to facilitate the cost value evaluation. In order to register scanned maps with built map through maximum overlap between the maps, a predictive algorithm is proposed. The algorit

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Trajectory Estimation of a Skid-Steering Mobile Robot Incorporating Free Wheelsdifferent ground properties and distributed loads on wheel axes. We formulate a mathematical expression in terms of virtual work for evaluating the energy cost of all the wheel motions with skidding and slipping under the condition that each wheel is always in contact with the ground via a pivot sus

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