...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on >Fuzzy Integral-Based Gaze Control Architecture Incorporated With Modified-Univector Field-Based Navigation for Humanoid Robots
【24h】

Fuzzy Integral-Based Gaze Control Architecture Incorporated With Modified-Univector Field-Based Navigation for Humanoid Robots

机译：类人机器人机器人的基于模糊积分的注视控制架构与基于单向量场的改进导航

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

When a humanoid robot moves in a dynamic environment, a simple process of planning and following a path may not guarantee competent performance for dynamic obstacle avoidance because the robot acquires limited information from the environment using a local vision sensor. Thus, it is essential to update its local map as frequently as possible to obtain more information through gaze control while walking. This paper proposes a fuzzy integral-based gaze control architecture incorporated with the modified-univector field-based navigation for humanoid robots. To determine the gaze direction, four criteria based on local map confidence, waypoint, self-localization, and obstacles, are defined along with their corresponding partial evaluation functions. Using the partial evaluation values and the degree of consideration for criteria, fuzzy integral is applied to each candidate gaze direction for global evaluation. For the effective dynamic obstacle avoidance, partial evaluation functions about self-localization error and surrounding obstacles are also used for generating virtual dynamic obstacle for the modified-univector field method which generates the path and velocity of robot toward the next waypoint. The proposed architecture is verified through the comparison with the conventional weighted sum-based approach with the simulations using a developed simulator for HanSaRam-IX (HSR-IX).
机译：当类人机器人在动态环境中移动时，规划和遵循路径的简单过程可能无法保证避免动态障碍物的出色性能，因为该机器人使用本地视觉传感器从环境中获取了有限的信息。因此，必须尽可能频繁地更新其本地地图，以便在步行时通过注视控制获得更多信息。本文提出了一种基于模糊积分的注视控制架构，该架构结合了针对类人机器人的改进的基于单向量场的导航。为了确定凝视方向，基于局部地图置信度，航路点，自我定位和障碍物的四个标准及其相应的部分评估功能被定义。使用部分评估值和标准的考虑程度，将模糊积分应用于每个候选注视方向以进行全局评估。为了有效地避开动态障碍物，还使用关于自定位误差和周围障碍物的部分评估功能来生成虚拟动态障碍物，用于修正单矢量场方法，该方法生成机器人朝下一个航路点的路径和速度。通过与传统的基于加权和的方法进行比较，并使用针对HanSaRam-IX（HSR-IX）开发的仿真器进行仿真，验证了所提出的体系结构。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号