343 results about "Potential field" patented technology

Real-time visual tracking using depth sensing camera technology, results in illumination-invariant tracking performance. Depth sensing (time-of-flight) cameras provide real-time depth and color images of the same scene. Depth windows regulate the tracked area by controlling shutter speed. A potential field is derived from the depth image data to provide edge information of the tracked target. A mathematically representable contour can model the tracked target. Based on the depth data, determining a best fit between the contour and the edge of the tracked target provides position information for tracking. Applications using depth sensor based visual tracking include head tracking, hand tracking, body-pose estimation, robotic command determination, and other human-computer interaction systems.

Interelectrode impedance or electric field potential measurements are used to determine the relative orientation of one lead to other leads in the spinal column or other body / tissue location. Interelectrode impedance is determined by measuring impedance vectors. The value of the impedance vector is due primarily to the electrode-electrolyte interface, and the bulk impedance between the electrodes. The bulk impedance between the electrodes is, in turn, made up of (1) the impedance of the tissue adjacent to the electrodes, and (2) the impedance of the tissue between the electrodes. In one embodiment, the present invention makes both monopolar and bipolar impedance measurements, and then corrects the bipolar impedance measurements using the monopolar measurements to eliminate the effect of the impedance of the tissue adjacent the electrodes. The orientation and position of the leads may be inferred from the relative minima of the corrected bipolar impedance values. These corrected impedance values may also be mapped and stored to facilitate a comparison with subsequent corrected impedance measurement values. Such comparison allows a determination to be made as to whether the lead position and / or orientation has changed appreciably over time. In another embodiment, one or more electrodes are stimulated and the resulting electric field potential on the non-stimulated electrodes is measured. Such field potential measurements provide an indication of the relative orientation of the electrodes. Once known, the relative orientation may be used to track lead migration, to setup stimulation configurations and parameters for nominal stimulation and / or navigation. Also, such measurements allow automatic adjustment of stimulation energy to a previously-defined optimal potential field in the case of lead migration or postural changes.

Interelectrode impedance or electric field potential measurements are used to determine the relative orientation of one lead to other leads in the spinal column or other body / tissue location. Interelectrode impedance is determined by measuring impedance vectors. The value of the impedance vector is due primarily to the electrode-electrolyte interface, and the bulk impedance between the electrodes. The bulk impedance between the electrodes is, in turn, made up of (1) the impedance of the tissue adjacent to the electrodes, and (2) the impedance of the tissue between the electrodes. In one embodiment, the present invention makes both monopolar and bipolar impedance measurements, and then corrects the bipolar impedance measurements using the monopolar measurements to eliminate the effect of the impedance of the tissue adjacent the electrodes. The orientation and position of the leads may be inferred from the relative minima of the corrected bipolar impedance values. These corrected impedance values may also be mapped and stored to facilitate a comparison with subsequent corrected impedance measurement values. Such comparison allows a determination to be made as to whether the lead position and / or orientation has changed appreciably over time. In another embodiment, one or more electrodes are stimulated and the resulting electric field potential on the non-stimulated electrodes is measured. Such field potential measurements provide an indication of the relative orientation of the electrodes. Once known, the relative orientation may be used to track lead migration, to setup stimulation configurations and parameters for nominal stimulation and / or navigation. Also, such measurements allow automatic adjustment of stimulation energy to a previously-defined optimal potential field in the case of lead migration or postural changes.

The invention discloses a mixed robot dynamic path planning method which is capable of being applied on the condition that a part of environment information is known, and unknown dynamic and static obstacles exist at the same time. Aiming at the conditions, the mixed robot dynamic path planning method comprises the following steps: utilizing a genetic algorithm (GA) as a global planning method to obtain global paths, and then conducting local planning by means of an improved artificial potential field method. According to the mixed robot dynamic path planning method, in local planning, speed and acceleration information of a robot and a barrier is considered, and therefore the mixed robot dynamic path planning method has better effects on processing dynamic path planning. In addition, effects of global planning path for local planning are also considered. The mixed robot dynamic path planning method is ease to achieve, robot paths obtained are more optimized, and meanwhile good flexibility is shown in the application.

The invention discloses a mobile robot obstacle avoidance method based on Kinect. In the indoor environment, environment information is obtained through a Kinect sensor, obstacle characteristics are recognized by processing depth information, different obstacles are separated out, the sizes of the obstacles can be estimated and the special obstacles are recognized; according to information of the obstacles, corresponding obstacle scenes are determined, so that corresponding obstacle avoidance strategies are determined, and on the basis of an artificial potential field method, the solution with the high adaptability, good real-time performance and smooth path is provided for real-time obstacle avoidance of an intelligent mobile robot in the unknown indoor environment. The environment information can be better mastered, so that the method is applicable to more indoor scenes, meanwhile, obstacle avoidance is performed on the basis of the artificial potential field method, and the defects existing in some artificial potential field methods are overcome through the environment information by means of advantages of the artificial potential field method.

The invention relates to a UAV (unmanned aerial vehicle) formation control method and device based on an artificial potential field. The method is characterized by converting a formation coordinate system to a global NED coordinate system, and determining an ideal position of each UAV in the formation in the global NED coordinate system; according to a preset target position of the UAV and the ideal position of the UAV, determining gravity applied to the UAV by the preset target position; according to velocity vector of the UAV and velocity vector of a barrier corresponding to the UAV, determining repulsion force applied to the UAV by the barrier; according to the gravity applied to the UAV and the repulsion force applied to the UAV by all barriers, determining resultant force applied to the UAV; and according to the resultant force applied to the UAV and flight status information of the UAV and wing planes around, determining movement trend of the UAV to enable a controller to carry out flight control on the UAV formation according to a motion model of the UAV.

The invention relates to a smooth path planning method for mobile robots based on a dynamic complex environment, and belongs to the field of robot path planning. The method comprises the steps of starting; searching for an optimal path; conducting smooth treatment on the optimal path; ending. The step of searching for the optimal path uses a two-way RRT algorithm with the idea of gravity of an artificial potential field to perform path searching, that is, the artificial potential field gravity guides a random tree to grow toward a target direction, and the RRT algorithm is prevented from randomly sampling the global; a two-way A* algorithm after a heuristic function is improved is adopted to add angle factors based on distance factors, the units of distances and angles are normalized, thepath planning time is greatly reduced, and the convergence speed of paths is improved; smoothing treatment is conducted on the optimal path, a Freudian smoothing algorithm is adopted to remove redundant nodes, a B-spline method is used three times for smoothly connecting remaining nodes, and the smooth optimal path is finally obtained.

The invention discloses an inspection robot path planning method combining map grids with potential field method obstacle avoidance; the inspection robot path planning method comprises the following steps: 1, global grid method path planning: using the grid method to obtain the global optimal path from a start point to an object point; 2, moving to the object point: determining whether obstacles are encountered or not, moving to the object point is no obstacle is detected, planning a local obstacle avoidance path if an obstacle is detected until reaching the object point; 3, planning the local obstacle avoidance path, using the artificial potential field method with changeable parameters to carry out obstacle avoidance path planning, determining whether the object point is reached or not, returning to step 2 if not, and finishing the tour if the object point is reached. The inspection robot path planning method can solve the problems that the robot inspection path planning in the prior art is poor in efficiency, thus enlarging the robot inspection time.

The invention relates to a voice broadcast type intelligent vehicle path planning device and an implementation method, and belongs to the technical field of vehicle control. The overall situation path planning is combined with the local path planning. A heuristic type A* search algorithm is combined with an artificial potential field method. The voice reminding function is added, and therefore the capability of handling the emergency situation of an intelligent vehicle is enhanced. The overall situation path planning is combined with the local path planning, and therefore the double requirements for the path optimality and driving safety of the intelligent vehicle are met. The heuristic type A* search algorithm is combined with the artificial potential field method, and therefore the searching efficiency of the algorithm is obviously improved. A single chip microcomputer is used for controlling the voice broadcast of a voice chip, and the cost of the device is reduced. The communication with other modules of the intelligent vehicle can be conveniently achieved through the local area network constructed through a router.

A method for determining spatial distribution of a property within a volume of subsurface formations includes generating an initial model of spatial distribution of a property of the formations using available data related to the property distribution within the volume. A forward model is generated in the wavenumber domain of spatial distribution of a potential field. Measurements of a physical parameter having a potential field obtained at spaced apart locations above the volume and / or in at least one wellbore penetrating the volume are entered. A revised model of spatial distribution of the potential field is generated by interpolating the measurements of the parameter. The interpolating is performed in the wavenumber domain. A revised model of spatial distribution of the physical property is generated by inversion in the wavenumber domain of the revised potential field model.