The goal of this project is to explore both the theory behind the Extended Kalman Filter and the way it was used to localize a four-wheeled mobile-robot. This can be achieved by estimating in real-time the pose of the robot, while using a pre-acquired map through Laser Range Finder (LRF). The LRF is used to scan the environment, which is represented through line segments. Through a prediction step, the robot simulates its kinematic model to predict his current position. In order to minimize the difference between the matched lines from the global and local maps, a update step is implemented. It should be noted that every measurement has associated uncertainty that needs to be taken into account when performing each step of the Extended Kalman Filter. These uncertainties, or noise, are described by covariance matrices that play a very important role in the algorithm. Since we are dealing with an indoor structured environment, mainly composed by walls and straight-edged objects, the line segment representation of the maps was the chosen method to approach the problem.
This paper is a report of an assignment of a course Computational Intelligence. The main goal of the assignment is to apply computational intelligence techniques in a practical setting - building a controller for a race car in The Open Racing Car Simulator (TORCS) using artificial neural network and evolving that network with evolutionary algorithm techniques.
Keywords: computational intelligence, car controller, artificial neural network
This work is going to analyze the Forced Van Der Pol's Equation which is used to analyze the electric circuit. In 1927, Balthasar Van Der Pol observed the stable oscillation and heard some irregular noise in vacuum tube circuit. He then proposed the Forced Van Der Pol's Equation to analyze the circuit and suggested the concept of limit cycle and Chaos to explain his observation. In this work, We would like to analyze behavior of the model by observing the phase space, time series, bifurcation diagram and power spectrum. Those points in the figures are calculated by Runge-Kutta Method with the aid of MATLAB. For a better understanding, the RLC circuit, which is a electric circuit consisting the a resistor, an inductor and a capacitor, will be used as an example for explaining the properties. Apart from electric circuit, the Forced Van Der Pol's Equation can be applied to dynamic systems in different aspect, such as the artificial heart, economic market and so on. Therefore, we suggest this work to all students since the Forced Van Der Pol's Equation can be applied to many majors, like Mathematics, Physics, Economics, Sociology, Biology, Engineering and so on.