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Title: Sensor guided control and navigation with intelligent machines. Final technical report

Abstract

This item constitutes the final report on ''Visionics: An integrated approach to analysis and design of intelligent machines.'' The report discusses dynamical systems approach to problems in robust control of possibly time-varying linear systems, problems in vision and visually guided control, and, finally, applications of these control techniques to intelligent navigation with a mobile platform. Robust design of a controller for a time-varying system essentially deals with the problem of synthesizing a controller that can adapt to sudden changes in the parameters of the plant and can maintain stability. The approach presented is to design a compensator that simultaneously stabilizes each and every possible mode of the plant as the parameters undergo sudden and unexpected changes. Such changes can in fact be detected by a visual sensor and, hence, visually guided control problems are studied as a natural consequence. The problem here is to detect parameters of the plant and maintain st ability in the closed loop using a ccd camera as a sensor. The main result discussed in the report is the role of perspective systems theory that was developed in order to analyze such a detection and control problem. The robust control algorithms and the visually guided controlmore » algorithms are applied in the context of a PUMA 560 robot arm control where the goal is to visually locate a moving part on a mobile turntable. Such problems are of paramount importance in manufacturing with a certain lack of structure. Sensor guided control problems are extended to problems in robot navigation using a NOMADIC mobile platform with a ccd and a laser range finder as sensors. The localization and map building problems are studied with the objective of navigation in an unstructured terrain.« less

Authors:
Publication Date:
Research Org.:
Department of Systems Science and Mathematics, Washington University, St. Louis, MO (US)
Sponsoring Org.:
USDOE Office of Energy Research (ER) (US)
OSTI Identifier:
809368
DOE Contract Number:
FG02-90ER14140
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 26 Mar 2001; PBD: 26 Mar 2001
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ALGORITHMS; CAMERAS; DESIGN; LASERS; NAVIGATION; RANGE FINDERS; ROBOTS; PROGRESS REPORT; ELECTRONIC GUIDANCE; REMOTE CONTROL; COMPUTERIZED CONTROL SYSTEMS; CONTROL THEORY; MANUFACTURING; STABILIZATION

Citation Formats

Ghosh, Bijoy K. Sensor guided control and navigation with intelligent machines. Final technical report. United States: N. p., 2001. Web. doi:10.2172/809368.
Ghosh, Bijoy K. Sensor guided control and navigation with intelligent machines. Final technical report. United States. doi:10.2172/809368.
Ghosh, Bijoy K. Mon . "Sensor guided control and navigation with intelligent machines. Final technical report". United States. doi:10.2172/809368. https://www.osti.gov/servlets/purl/809368.
@article{osti_809368,
title = {Sensor guided control and navigation with intelligent machines. Final technical report},
author = {Ghosh, Bijoy K.},
abstractNote = {This item constitutes the final report on ''Visionics: An integrated approach to analysis and design of intelligent machines.'' The report discusses dynamical systems approach to problems in robust control of possibly time-varying linear systems, problems in vision and visually guided control, and, finally, applications of these control techniques to intelligent navigation with a mobile platform. Robust design of a controller for a time-varying system essentially deals with the problem of synthesizing a controller that can adapt to sudden changes in the parameters of the plant and can maintain stability. The approach presented is to design a compensator that simultaneously stabilizes each and every possible mode of the plant as the parameters undergo sudden and unexpected changes. Such changes can in fact be detected by a visual sensor and, hence, visually guided control problems are studied as a natural consequence. The problem here is to detect parameters of the plant and maintain st ability in the closed loop using a ccd camera as a sensor. The main result discussed in the report is the role of perspective systems theory that was developed in order to analyze such a detection and control problem. The robust control algorithms and the visually guided control algorithms are applied in the context of a PUMA 560 robot arm control where the goal is to visually locate a moving part on a mobile turntable. Such problems are of paramount importance in manufacturing with a certain lack of structure. Sensor guided control problems are extended to problems in robot navigation using a NOMADIC mobile platform with a ccd and a laser range finder as sensors. The localization and map building problems are studied with the objective of navigation in an unstructured terrain.},
doi = {10.2172/809368},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Mar 26 00:00:00 EST 2001},
month = {Mon Mar 26 00:00:00 EST 2001}
}

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