Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal RobotReport as inadecuate




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Mathematical Problems in Engineering - Volume 2015 2015, Article ID 168645, 12 pages -

Research ArticleSchool of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, China

Received 28 November 2014; Revised 28 February 2015; Accepted 3 March 2015

Academic Editor: Victor Santibáñez

Copyright © 2015 Dunwen Wei. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of desireddirection field is proposed to deal with such navigation problem. To lay down a principled discussion of the accuracyand efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and timeefficiency are established. In this paper, one vision navigation control method based on desired direction field isproposed. This proposed method uses discrete image sequences to form discrete state space, which is especiallysuitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specificobjective without overshoot. The shortest path method SPM is proposed to design such direction field with thehighest 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 areillustrated through a number of computer simulations considering the error from camera sensor. Simulation resultsshow that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.





Author: Dunwen Wei

Source: https://www.hindawi.com/



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