NDLI: A Distributed Active-Vision Network-Space Approach for the Navigation of a Car-Like Wheeled Robot

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Chin-Yuan Shih
Copyright Year	1982
Abstract	The navigation for a car-like wheeled robot (CLWR) in a distributed active-vision network-space system (DAVNSS) subject to three fuzzy variable-structure decentralized controls (FVSDCs) is developed. The scheme also includes trajectory tracking and obstacle avoidance. Two distributed wireless charge-coupled-device (CCD) cameras individually driven by two stepping motors, viz., active CCD1 and active CCD2 (or simply ACCD1 and ACCD2), are constructed to capture the dynamic pose of the CLWR and the obstacle. The proposed control system includes quad processors with multiple sampling rates. First, a personal computer (PC) is employed to receive the image of the CLWR or obstacle from ACCD1 or ACCD2 by a wireless transmitter and then to plan three reference commands for CLWR, ACCD1, and ACCD2. Next, a six-step image-processing routine and the calibration between the world coordinate and the image plane coordinate using multilayer perceptrons (MLPs) are established. Finally, experiments are performed to validate the proposed control system.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	846
Ending Page	855
Page Count	10
File Size	1500790
File Format	PDF
ISSN	02780046
Volume Number	56
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Mobile robots Robot kinematics Control systems Fuzzy control Fuzzy systems Distributed control Trajectory Charge coupled devices Robot vision systems trajectory tracking Car-like wheeled robot (CLWR) distributed active-vision network space fuzzy variable-structure decentralized control (FVSDC) multiprocessor navigation obstacle avoidance
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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