obviously navigation is one of the most complicated issues in mobile robots.intelligent algorithms are often used for error handling in robot navigation. thispaper deals with the problem of inertial measurement unit (imu) error handling byusing extended kalman filter (ekf) as an expert algorithms. our focus is put onthe field of mobile robot navigation in the 2d environments. the main challenge...

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...

In this paper we consider the problem of air to ground missile guidance system using fuzzy controller which uses Proportional Navigation and Pure Pursuit methods. The fuzzy controller’s rules are defined using Tabu Search (TS). The missile model is assumed as three degree of freedom (3DOF) (assuming the analysis in the vertical plane only). This paper presents numerical results for applying the...

Spatial scaling – the ability to transform distance information from one space to another space of different size – constitutes an integral aspect of many spatial tasks that involve different representational systems or symbol-to-referent correspondences (e.g., map reading, navigation, drawing, etc.). It potentially also bears relevance to physical, geometrical or mathematical reasoning, which ...

In this paper we describe the design and implementation of a unique proportional whisker sensor and our general behaviour based software architecture. The Architecture for Behaviour Based Agents (ABBA) is used to realise purposive mobile robot navigation in a cluttered indoor environment. The whisker was developed specifically to meet the requirements of high speed and close wall following. We ...

The problem of three-dimensional impact time control guidance considering field-of-view constraints and time-varying velocity is investigated in this study. First, the effect gravity aerodynamic forces on velocity, a simplified numerical estimation algorithm flight with proportional navigation law derived. Then, based structure biased law, term analyzed. then designed to achieve velocity. Final...

background: short golden time is important to save the injured in earthquake and to start search and rescue (sar) operation as soon as possible in affected regions. this study evaluated application of geographic information system (gis) for sar operation in rigan town, kerman province, which was hit by an earthquake of 6.3 richter scale on december 12, 2010 at 22:12. materials and methods: a gi...

This article reports the development of an unmanned aerial vehicle capable of attitude estimation and stabilization through the implementation of a nonlinear complementary filter and proportional-integral rate controllers. Four infra-red sensors and an ultrasonic sensor are integrated with the main platform for the collision avoidance schemes and for altitude control, respectively. Critical mis...

against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (ins/radar). this filter involves the concept of residual-based adaptive estimation and adaptive fading kalman filter and tunes dynamically the fil...

This paper presents a novel approach to on-line, robotmotion planning for moving-object interception. A hybrid scheme, which combines a navigation-based technique with a conventional trajectory tracking method, is proposed for intercepting fast-maneuvering objects. The implementation of the proposed technique is discussed via a simulation example.