Wyniki wyszukiwania - BazTech

1

Mobile robot visual homing by vector pre-assigned mechanism

Ji X., Zhu Q., Wang J., Cai C., Ma J.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2019

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Vol. 67, nr 2

213--227

EN

In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.

2

A machine learning-based mobile robot visual homing approach

Zhu Q., Ji X., Wang J., Cai C.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2018

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Vol. 66, nr 5

621--634

EN

Visual homing enables mobile robots to move towards a previously visited location solely based on panoramic vision sensors. In this paper, a SIFT-based visual homing approach incorporating machine learning is presented. The proposed approach can reduce the impact of inaccurate landmarks on the performance, and generate more precise home direction with simple model. The effectiveness of the proposed approach is verified on both panoramic image databases and actual mobile robot, experimental results reveal that compared to some traditional visual homing methods, the proposed approach exhibits better homing performance and adaptability in both static and dynamic environments.

3

Analysis of the relevant parameters on small scale of navigable abnormal ship model

Cai C., Lei P., Cai X.

Polish Maritime Research

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2017

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S 2

133--139

EN

At present, ship model tests are based on the normal mode at home and abroad. With the development and application of abnormal hydraulic model, it is necessary to study abnormal ship model. The similarity criterion of abnormal ship model is deduced from the similarity theory of normal hydraulic model in this paper. Some factors that affect the maneuverability of the abnormal ship model are discussed by theoretical analysis of ship maneuvering. The influence of the K and T index of different variable rate on the abnormal ship model maneuvering and the dimensional effect of the abnormal ship model are obtained, which can be used as a reference for the study of the abnormal ship model.

4

Model tests for shallow-water ship maneuverability in Three Gorges Reservoir

Cai C., Cai X., Li Y.

Polish Maritime Research

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2015

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S 1

136--140

EN

This paper conducts calibration tests on the shallow-water maneuverability of 1:100 ship models for the typical navigation fleets in Three Gorges Reservoir. Major influential factors for the maneuverability similitude between models and prototypes and for scale effect were identified. A correction method for model scale was also established through model tests. Test results indicate that, by correcting the model scales of various fleets based on scale effect, the maneuverability indexes K’ (dimensionless of K) and T’ (dimensionless of T) of ship models are suitable for shallowwater tests, and properly reflect the maneuvering characteristics of prototypes. The findings provide an experimental basis for the navigation safety in Three Gorges Reservoir.