Linan Zu

Learn More
Ant colony optimization and artificial potential field were used respectively as global path planning and local path planning methods in this paper. Some modifications were made to accommodate ant colony optimization to path planning. Pheromone generated by ant colony optimization was also utilized to prevent artificial potential field from getting local(More)
A rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors, because of the smoke or collapsed walls. According to the diffraction property of audio signal, the sound can bypass obstacles. To find the survivors which are often in far field, an audio-based robot localization(More)
The mammalian used to direct its vision field to a sound source by its auditory system. So an auditory system of robot for sound source localization is proposed in this paper. Through using the four-element microphone array, the time differences of arrival can be achieved and the sound-source target can be localized. The experiment system is introduced.(More)
Until now, many methods are used to solve the problems of task-allocation and path planning in multi mobile robot system. There are two new algorithms presented in this paper. The task-allocation algorithm resolves the puzzle of task getting and accomplishing with the least cost based on the optimal notion. The environment of the system is constructed with(More)
In order for individuals suffering from transfemoral amputation to walk in a variety of circumstances, the above-knee prosthesis based on posture recognition was presented. The body posture of lower limb was classified into four classes, "stair", "sitting", "standing", and "walking". For measure the amputee's movement intent, surface EMG signals which can(More)
In order to improve the gait of disable people, a control concept of above-knee prosthesis was presented. The surface electromyography signal extracted from leg muscles was applied to recognize the phase of stride, and translated into on-off signal of self-lock control. A hybrid neural network-genetic algorithm was applied to describe the relation between(More)
A path planning structure based on hierarchical idea was adopted in this paper. In this structure, the global path planning is done firstly by the robot and the local online adjusting is done afterward. This kind of structure can debase the calculation complexity of path planning. Then, aiming at the problem of local motion planning, a conflict-resolution(More)
A reinforcement learning method based on behavior decomposition was proposed for obstacle avoidance of multi mobile robots. It decomposed the complicated behaviors into a series of simple sub-behaviors which were learned independently. The learning structures, parameters and reinforcement functions of every behavior are designed. Then, the fusion for(More)
During the course of sound source localization, the localization system often misoperates because of the environment noise, sensors' failure and other reasons. And there are outliers in the measurements because of the clutter environment. To solve this problem, this paper present a new Kalman filter based on outliers for sound source localization. By(More)