He Kezhong

THMR-V: an effective and robust high-speed system in structured road

Many systems have been developed which can drive autonomously in structured road, but little works have been reported that describe the specific system solution in a high-speed (more than 120 km/h) situation. This paper presents THMR-V (Tsinghua mobile robot V), a system that performs well with a speed up to 150 km/h. Multi-region and bi-threshold edge extraction is used for image processing and an ATN-based approach is used for lane line location.Many systems have been developed which can drive autonomously in structured road, but little works have been reported that describe the specific system solution in a high-speed (more than 120 km/h) situation. This paper presents THMR-V (Tsinghua mobile robot V), a system that performs well with a speed up to 150 km/h. Multi-region and bi-threshold edge extraction is used for image processing and an ATN-based approach is used for lane line location.

Analysis and synthesis of fuzzy stochastic systems via LMI approach

This paper studied a general class of nonlinear stochastic systems, which can be approximated by T-S fuzzy model. The problem both the control and the state entering into the diffusion term is discussed here. A PDC state feedback controller is proposed to guarantee the mean-square stability of the closed-loop system. All the results are represented by the linear matrix inequalities.

An integrated GPS/CEPS position estimation system for outdoor mobile robot

This paper proposes an effective position estimation system for outdoor mobile robot. By using differential GPS technique, the effects of orbital and atmospheric errors, as well as satellite clock error, can be effectively canceled. The CEPS (Compass-Encoder Positioning System) which is much cheaper than traditional INS is practical for most autonomous mobile robots. With the integration of GPS and CEPS, the system may maintain the advantages of both navigation systems without many of the limitations of either. It ensures good performance from CEPS for some time after the loss of GPS signals, and continued navigation is possible during periods of GPS outage. Moreover, the CEPS can eliminated accumulating measurement error by periodically aligned with GPS.

A double-level fuzzy controller with an intelligently adjusting strategy of quantization and scale factors

Based on the analysis of how the quantization and scale factors influence the system performance and the relationship between these factors and the membership functions, a double-level fuzzy controller(DLFC) with an intelligently adjusting strategy of these factors is proposed in this paper. The senior fuzzy controller in the DLFC can adjust the quantization and scale factors of the junior fuzzy controller online, while the latter performs the control of the process. The DLFC has a better robustness than the basic fuzzy controller, which is proved by the simulation results presented in the paper. Two examples of the application of the DLFC to a microwave oven control system and a chemical process are also reported.

High-speed system and robust control in highway

Many systems have been created which can drive autonomously in structured road, but little work has been reported that describes the specific system solution in a high-speed(more than 120 km/h) situation. So we concentrate on developing a high-speed system that performs well in the highway and other structured roads. THMR-V is such a high-speed system, which successfully achieved a maximal speed of 150 km/h. In this paper, we will mainly discuss the system models and control algorithms implemented in our autonomous system.

A novel design for H/sup /spl infin// control via T-S fuzzy model

In this paper, a novel H/sup /spl infin// control design is proposed on the basis of T-S fuzzy model. The controller is divided into two parts, one is designed based on the idea of parallel distributed compensation (PDC), to guarantee the stability, and the other is an H/sup /spl infin// control to attenuate the external disturbance. The influence on the regulating error can be attenuated to a prescribed level. A simulation on the inverted pendulum is given to illustrate the effectiveness of this algorithm.

INTELLIGENT CONTROL OF MOBILE ROBOT

In this paper, the intelligent control of mobile robot is introduced and the key technologies of intelligent mobile robot are also introduced, for example architecture of mobile robot, general computer control module, vision subsys. and information reduced technology, the research of “perception-action” behavior and application of fuzzy control, and so on. The experiments press that the THMR-III intelligent mobile robot has many good performance.