In this paper, a neural-dynamic optimization-based nonlinear model predictive control (NMPC) is developed for the multiple nonholonomic mobile robots formation. First, model-based monocular vision method to obtain location information of leader. Then, separation-bearing-orientation scheme (SBOS) strategy proposed. During formation motion, leader robot controlled track desired trajectory and leader-follower relationship can be maintained through SBOS method. Finally, (MPC) utilized maintain...

Service robot navigation must take the humans into account explicitly so as to produce motion behaviors that reflect its social awareness. Generally, problems of mobile service can be summarized three aspects: 1) human detection; 2) real-time localization; and 3) planning. The purpose this paper is provide a feasible strategy integrate these aspects achieve conscious, safe, accurate, robust, efficient navigation. We first introduce detection system for recognition gesture using weighted...

Whole-body control (WBC) has emerged as an important framework in manipulation for mobile manipulators. However, most existing WBC frameworks require known dynamics. Considering whole-body and optimization with unknown dynamics, this article presents the of a nonholonomic manipulator using model predictive (MPC) fuzzy logic system. First, by constructing dynamics-based feedback linearized robotic multi-input-multi-output (MIMO) system, MPC-based strategy is proposed manipulator. Such can...

To increase the localization accuracy of moving service robot in restaurant, A method and a landmark recognition based on RGB depth (RGB-D) vision sensor is presented. Based landmarks, we utilized an Extend Kalman Filter(EKF) to calculate position pose. The path planning approach differential-flatness point-to-point trajectory proposed for robot. There are kinds control manners which improved enjoyment human-machine interface, such as mobile client voice control. Finally, methods have been...

This paper describes the brain-actuated control of a dual-arm robot performing bimanual relative motion manipulation tasks, through adoption Jacobian matrix, wherein can be considered as single manipulator and movements end effectors calculated by motion. An online brain-machine interface (BMI) system based on multichannel steady-state visual evoked potentials was developed, it able to perform band-pass filtering stimuli classification using support vector machines. Considering in...

This paper presents the development of a brain-machine interfacing teleoperation control framework mobile robot using quadrupole potential function (QPF). The online brain-computer interface is based on steady-state visually evoked potentials, which employs multivariate synchronization index classification algorithm to decode human electroencephalograph (EEG) signals. In this way, intentions can be recognized and EEG commands produced for robot. Besides, novel artificial named QPF designed...

One of the fundamental issues for service robots is human-robot interaction. In order to provide desired services, these need audiovisual perception humans and make appropriate feedback. this paper, we present our system spontaneous speech recognition, localization identification user, recognition user's gestures, so as perform corresponding tasks like mapping, following user heading designated location meanwhile avoiding obstacles on way. The employs a new method multi-feature detection...

In this paper, we give a modified proof of Chen's theorem every sufficiently large even inte- ger is sum prime and product at most 2 primes.

In this paper, an admittance control scheme is proposed for physical human-robot interaction with human subject's intention motion as well dynamic uncertainties of the robotic exoskeleton. Human represented by reference trajectory. Online estimation stiffness employed to deal variable impedance property exoskeleton manipulator. An approach firstly presented in order generate a differentiable trajectory tasks. Then stability criterion can be obtained method. The designed controller includes...

One of the main challenges in content-based or semantic image retrieval is still to bridge gap between low-level features and information. In this paper, An approach presented using integrated multi-level ontology fusion construction by a framework, which based on latent analysis. The proposed method promotes images efficiently broadens application fields system. relevant experiment shows that ameliorates problem, such as too many redundant data relations, traditional system construction,...

A brain-robot interface (BRI) based control system combined with the simultaneous localization and mapping (SLAM) has been developed to achieve navigation of a mobile robot in unknown environments. The BRI is on motor imagery(MI), which analyze human electroencephalograph (EEG) signals through CSP-based SVM classification algorithm. SLAM presented this paper improved by combining RGB-D SLAM, optical flow deep leaning Recognition. method used accurately track displacement ORB feature points...

In this paper, for path planning in indoor cluttered environments, a non-holonomic motion planner based on novel artificial potential field is presented. Combined with low-level controller, it not only guarantees obstacle avoidance but also can stabilize the noholonomic mobile robot to goal configuration including orientation. The proposed approach has been implemented planar scenarios and navigation of from an arbitrary initial while avoiding collision demonstrated.

Traffic congestion of urban cities are becoming more and serious. Dealing with is indispensable. Firstly, this paper summarizes the research all over world. After that, a traffic control method based on synergetics theory proposed. Architecture, strategies models At last, simulation VISSIM 4.2 using done to evaluate its effect validity. The results prove that useful better than traditional method.

Nonlinear dynamic inversion (NDI) has been applied to the control law design of quad-rotors mainly thanks its good robustness and simplicity parameter tuning. However, weakness relying on accurate model greatly restrains application quad-rotors, especially nano (NQRs).NQRs are easy be influenced by uncertainties such as (mainly from complicated aerodynamic interferences, strong coupling in roll-pitch-yaw channels inaccurate prediction rotors) external winds or gusts), particularly persistent...

In this paper, an optimal controller is designed and applied to the lower-limb exoskeleton robot, which could improve robustness under nonlinear perturbations. order derive controller, we build modeling of robot simplify structure then define a cost function, because function difficult solve, so adopt approximation method approximate its value, control obtained by solving Hamiltonian equation. Finally, simulation studies are carried out. These verify that has good performance even in...