Search results for "Navigation"
showing 10 items of 297 documents
UAV control with switched GNSS-Estimator navigation system∗∗This work was supported by Russian Scientific Foundation (project 14-21-00041) and Saint-…
2015
Abstract In the paper the switched GNSS-Estimator navigation system, recently proposed by the authors, is described and numerically studied in the framework of evaluation of the overall UAV control system accuracy.
Low-cost underwater navigation systems by multi-pressure measurements and AHRS data
2017
This paper deals with accurate navigation for underwater remotely operated vehicles. A feasibility study for a multi-pressure device to be mounted on an ROV is presented. The device can provide accurate estimates of a ROV orientation and angular speed. It is based on the well-known total pressure principle, also used in a Pitot tube, and allows reconstruction of static and dynamic pressures, which in turn provide good estimates of the ROV's orientation and rotational speed, respectively. An appealing feature of the proposed device is its ability to provide accurate estimates even for low-speed movements.
Head and Body Coordination during Locomotion and Complex Movements
1994
Publisher Summary This chapter discusses theory in which it is argued that during complex movements, the head is stabilized intermittently under the control of gaze, and that this stabilization allows the head to serve as an inertial guidance platform for the control of multilimb movement. The otolithic organs, sacculus and utriculus, are inertial detectors of linear acceleration of the head in the plane of their macula. It is well established that in normal gravity conditions, although the perceived gravitational vertical deviates from the objective vertical by a few degrees, gravitational reference is used not only for posture but also for perceptual tasks that involve orientation in spac…
VISOCAR: an autonomous industrial transport vehicle guided by visual navigation
2003
The authors describe a vision system, called VISOCAR, for mobile robot guidance in industrial environments. VISOCAR is an optically navigating AGV (automatically guided vehicle) that, owing to its local intelligence, can travel automatically in its natural environment, does not need any dedicated floor installations, and does not impose any restrictions on the route network or factory environment. It can navigate accurately on its track and integrate multisensor information to enhance functional redundancy and system reliability. It is shown that the navigation task can be broken down into a hierarchy of goals, which can be attained by functionally independent modules. The system architectu…
Trajectory tracking of underactuated underwater vehicles
2003
This paper deals with a control strategies for underactuated underwater vehicles whose target is the tracking of a space trajectory. A cascade control strategy is employed which brings to a control law consisting of: 1) a kinematic control law, derived from the vehicle kinematic model, which forces this model to track the reference trajectory; and 2) a dynamic control law which forces the system to track the reference signals given by the kinematic control law. Conditions for asymptotic tracking of the trajectory are given with reference to the standard dynamical model of the above vehicle. An observer of the marine current is also added in order to process the control law. Simulation tests…
ARIANNA: a smartphone-based navigation system with human in the loop
2014
In this paper we present a low cost navigation system, called ARIANNA, primarily designed for visually impaired people. ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception) permits to find some points of interests in an indoor environment by following a path painted or sticked on the floor. The path is detected by the camera of the smartphone which also generates a vibration signal providing a feedback to the user for correcting his/her direction. Some special landmarks can be deployed along the path for coding additional information detectable by the camera. In order to study the practical feasibility of the ARIANNA system for human users that want to follow …
Mixed signal system design (A project based course)
2014
This paper describes an undergraduate 10 ECTS course in the design of analog and digital microelectronic circuits based on a project. This is offered for the students of Electronics engineering in their 3 rd semester of the 6-semester bachelor-programme. The emphasis is given on the mixed signal aspects of the system design. From the project, students get practical experience in the mixed signal system design.
A distributed architecture for autonomous navigation of robots
2002
The paper shows a distributed architecture for autonomous robot navigation. The architecture is based on three modules that are implemented on separate and interacting agents: the target recognizer, the obsta90cle evaluator and the planner. An adaptive genetic algorithm has been studied to identify mechanisms for reaching the target and for manipulating the 2-directions of the robot; the distributed architecture has been embedded in the DAISY (Distributed Architecture for Intelligent System). Experiments have been carried out using a LEGO intelligent brick.
Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development
2016
International audience; Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper de…
Drosophila-inspired visual orientation model on the Eye-Ris platform: Experiments on a roving robot
2011
Behavioral experiments on fruit flies had shown that they are attracted by near objects and they prefer front-to-back motion. In this paper a visual orientation model is implemented on the Eye-Ris vision system and tested using a roving platform. Robotic experiments are used to collect statistical data regarding the system behaviour: followed trajectories, dwelling time, distribution of gaze direction and others strictly resembling the biological experimental setup on the flies. The statistical analysis has been performed in different scenarios where the robot faces with different object distribution in the arena. The acquired data has been used to validate the proposed model making a compa…