Constrained submap algorithm for simultaneous localization and mapping

When solving the problem of simultaneous localization and mapping (SLAM), a standard extended Kalman filter (EKF) is subject to linearization errors and causes optimistic estimation. This paper proposes a submap algorithm, which builds a weighted least squares (WLS) constraint between two adjacent submaps according to the different estimations of the common features and the relationship between the vehicle poses in the corresponding submaps. By establishing the constraint equation after loop closing, re-linearization is implemented and each submap’s reference frame tends to its equilibrium position quickly. Experimental results demonstrate that the algorithm could get a globally consistent map and linearization errors are limited in local regions.     

MULTI-FLEXIBLE SYSTEM DYNAMIC MODELING THEORY AND APPLICATION

IntroductionCommonly,a mechanical system consists ofseveral parts. They are combined by series of geo-metrical bounds in order to accomplish expectedmotions.Therefore,if every part in the system isregarded as a rigid body,the system is called mul-ti- rigid system;but if some parts' deformationcannot be ignored,the system is called multi- flexi-ble system or flexible multi- body system[1,2 ] .Nowadays,with the world economy' s rapiddevelopment and marketglobalization,itis key forenterprises' ex…     

KINETIC MODELLING AND PERFORMANCE ANALYSIS OF THE FOUR-POST-FRAME LIFTING MECHANICAL SYSTEM

IntroductionWith the increasing requirements ofexpandingthe production- scale of petrochemical products,the present low- throughput (6 0 0 bags/ hour) [1] ofhomemade palletizer becomes a barrier to developforwardly. How to realize the high- speed palletiza-tion is a troublesome problem but required to besolved as soon as posible. The main problem gen-erated due to high- speed palletizing is vibrationproblem of the four- post- frame and lifter,whichnot only worsen the shape of pallet- load,but …     

船用消防机器人自动控制技术的研制

本文介绍了船用消防机器人的系统功能特点、控制结构及工作原理，给出了上、下位机的硬件结构与控制软件的通讯技术及控制程序流程。     

全自动智能运输系统的分布式递阶控制方法

针对动态环境中的全自动智能运输系统的控制问题,提出一种适用于该系统的分布式递阶控制方法。该方法以大系统递阶控制理论为基础,采用3级结构,包含组织级、协调级和执行级。分布式递阶控制方法在不同层次上分别处理全自动智能运输系统的车辆调度、车辆协调及车辆行为控制问题。组织级响应实时变化的运输需求,并由此确定无人驾驶车辆的调度命令。协调级负责化解系统内车辆之间的潜在冲突。执行级负责无人驾驶车辆的行为控制。仿真试验研究结果表明,较之传统的定时发车方式,对于全自动智能运输系统,采用分布式递阶控制的系统控制方法能够缩短乘客的平均等车时间并提高车辆的使用效率。