2020 3rd International Conference on Unmanned Systems (ICUS)最新文献_第5页

Research on UAV Swarm Cooperative Reconnaissance and Combat Technology 无人机群协同侦察与作战技术研究

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274902

Rui Li, Hongzhong Ma

引用次数: 13

Enhanced grey wolf optimization algorithm for group decision making in unmanned clusters 基于改进灰狼优化算法的无人集群群体决策

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275029

Kang-Hua Bao, Jin Pan, Jiahua Zhu

{"title":"Enhanced grey wolf optimization algorithm for group decision making in unmanned clusters","authors":"Kang-Hua Bao, Jin Pan, Jiahua Zhu","doi":"10.1109/ICUS50048.2020.9275029","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275029","url":null,"abstract":"unmanned platform cluster collaborative work will be a common mode to complete related tasks. The uncertainty and diversity of environment and task types make group decision-making a key technology to support unmanned cluster collaborative work. Gray wolf group has strong cognitive and cooperative ability, and can quickly track and surround prey in complex environment. The intelligent behavior characteristics such as information cognition and division of labor and cooperation are consistent with the decision-making needs of unmanned group. As a new swarm intelligence optimization algorithm, grey wolf optimization (GWO) algorithm is very suitable for solving such complex decision optimization problems. Aiming at the shortcomings of traditional GWO algorithm, such as slow convergence speed and easy to fall into local optimum, an enhanced grey wolf optimization (EGWO) algorithm is proposed to decompose the cooperative hunting movement of wolves in stages. The mathematical model mapped from search and track, pursuit, encirclement and attack prey is updated by three mathematical methods: nonlinear time-varying weighted weight differential mutation disturbance factor Archimedes spiral. The task stage switching model is constructed to deal with the state mutation in real time to enhance the correct decision-making and rapid response of the cluster. The experimental results show that the egwo algorithm can effectively improve the optimization accuracy and convergence speed of group decision-making.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122909676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Group Abnormal Behavior Detection Based on Fuzzy Clustering 基于模糊聚类的群体异常行为检测

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274820

Huanhuan Zhang, Xi Zhang, Jiarun Xie, Yashen Wang

引用次数: 0

LiDAR-Based Road Extraction for UGV in High Definition Map 基于激光雷达的UGV高清地图道路提取

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274830

Shengguo Hu, Huivan Chen, Boyang Wang, Jian-wei Gong, Yuedong Ma

{"title":"LiDAR-Based Road Extraction for UGV in High Definition Map","authors":"Shengguo Hu, Huivan Chen, Boyang Wang, Jian-wei Gong, Yuedong Ma","doi":"10.1109/ICUS50048.2020.9274830","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274830","url":null,"abstract":"Extracting road information from the high-density point cloud collected by the vehicle-borne laser scanning system is essential for making High Definition (HD) maps. This paper proposes a three-dimensional (3D) laser point cloudbased pavement extraction method applicable to roads of different structure types. First, the filtering method based on cloth simulation is used to extract all ground point sets from the original point cloud data. The partial surface points in front of the vehicle are selected from the ground point to estimate the normal vector of the road surface model. Then, based on the uniformity of the point cloud density distribution of the road surface, all the road points are finally filtered out from the plane point concentration by calculating the continuity of the onedimensional and two-dimensional point density. After that, according to the characteristics that the road points are positively distributed, the method based on the skewness balance is used to estimate the separable road sign. We show that this method can accurately extract road surface information from point cloud data with an extraction rate of 96.1%.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131123499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Real-time Trajectory Replanning for Micro-UAVs in Cluttered Environments with Dynamic Obstacles 具有动态障碍物的混乱环境下微型无人机的实时轨迹重规划

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274931

Tianqing Liu, Yifeng Niu, Shengde Jia, Wenchen Yao

引用次数: 1

Research on Key Technologies of Logistic and Equipment Supports of Unmanned Combat System 无人作战系统后勤与装备保障关键技术研究

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274960

Xiao-hong Liang

引用次数: 0

Analysis of military application of UAV swarm technology 无人机群技术的军事应用分析

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274974

Zhu Xiaoning

引用次数: 26

Research on Intelligent Engine Control of Unmanned Tracked Vehicle Based on Position Electronic Governor 基于位置电子调速器的无人履带车辆发动机智能控制研究

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274835

Kunhong Ye, Huiyan Chen, Ruizeng Zhang, Junbo Liao

{"title":"Research on Intelligent Engine Control of Unmanned Tracked Vehicle Based on Position Electronic Governor","authors":"Kunhong Ye, Huiyan Chen, Ruizeng Zhang, Junbo Liao","doi":"10.1109/ICUS50048.2020.9274835","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274835","url":null,"abstract":"In order to adapt to the development of the ground unmanned vehicle, the paper studies the matching problem of the engine during the steering process of the unmanned vehicle, and proposes an coordinated control strategy of engine during the vehicle steering process based on the independent design of the engine position-type electronic governor. In this paper, the GMM-HMM model is built to predict the steering mode of the unmanned vehicle, and then, the steering load identification and the parameters of the engine controller are adjusted in advance to improve the performance of engine response. Meanwhile, the GMR model is used to estimate the vehicle steering radius and the steering load. In the process of switching the vehicle’s steering mode, the engine controller responds to the demand for the speed control based on the steering load to reduce the disturbance of the vehicle speed during the steering process. The test results show that the engine controller has fastness, stability and resistance to load disturbances for meeting the requirements of unmanned tracked vehicles to the engine response, and the proposed coordinated control strategy can effectively reduce the speed disturbance and increase the stability of steering in the steering process.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124925018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Approximated Long Horizon MPC with Hindsight for Autonomous Vehicles Path Tracking 自动驾驶汽车路径跟踪的后见之明的近似长视界MPC

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274850

Chaoyang Jiang, Jiankun Zhai, Hanqing Tian, Chao Wei, Jibin Hu

引用次数: 1

Autonomous Control of Fixed-wing Unmanned Aerial System by Reinforcement Learning 基于强化学习的固定翼无人机系统自主控制

2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274858

Hao Wang, Weijia Wang

引用次数: 1