Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot
Author
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-18
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Navigation with the specific objective can be defined by specifying desired timed trajectory.
The concept of desired direction field is proposed to deal with such navigation problem.
To lay down a principled discussion of the accuracy and efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and time efficiency are established.
In this paper, one vision navigation control method based on desired direction field is proposed.
This proposed method uses discrete image sequences to form discrete state space, which is especially suitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specific objective without overshoot.
The shortest path method (SPM) is proposed to design such direction field with the highest time efficiency.
However, one improved control method called canonical piecewise-linear function (PLF) is proposed.
In order to restrain the noise disturbance from the camera sensor, the band width control method is presented to significantly decrease the error influence.
The robustness and efficiency of the proposed algorithm are illustrated through a number of computer simulations considering the error from camera sensor.
Simulation results show that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.
American Psychological Association (APA)
Wei, Dunwen. 2015. Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073102
Modern Language Association (MLA)
Wei, Dunwen. Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot. Mathematical Problems in Engineering No. 2015 (2015), pp.1-12.
https://search.emarefa.net/detail/BIM-1073102
American Medical Association (AMA)
Wei, Dunwen. Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-12.
https://search.emarefa.net/detail/BIM-1073102
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073102