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2020 3rd International Conference on Unmanned Systems (ICUS)最新文献

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Infrared Object Location and Video Stabilization Algorithm of Mortars with Correction Fuze 带校正引信迫击炮红外目标定位与视频稳定算法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274925
Cong Zhang, Dongguang Li, Jingtao Liu, Jiashuo Qi
{"title":"Infrared Object Location and Video Stabilization Algorithm of Mortars with Correction Fuze","authors":"Cong Zhang, Dongguang Li, Jingtao Liu, Jiashuo Qi","doi":"10.1109/ICUS50048.2020.9274925","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274925","url":null,"abstract":"The paper proposed an algorithm combining infrared video stabilization and object location. The parameters and component of the fuze were designed. The transformation relation among projectile, correction fuze and pixel movement was build. Correspondingly, a novel adaptive threshold method was used to preprocessing the image. Then, a gray projection algorithm was proposed to stabilize the video and an equivalent region method was used to locate the object. Results show that the algorithm can effectively improve the image stabilization quality, accurately detect the object azimuth and reduce the computational cost.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"12 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":"133049163","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: 2
Monocular 3D Detection for Autonomous Vehicles by Cascaded Geometric Constraints and Depurated Using 3D Results 基于级联几何约束和三维结果净化的自动驾驶车辆单目三维检测
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274863
Fang Jiaojiao, Zhou Linglao, L. Guizhong
{"title":"Monocular 3D Detection for Autonomous Vehicles by Cascaded Geometric Constraints and Depurated Using 3D Results","authors":"Fang Jiaojiao, Zhou Linglao, L. Guizhong","doi":"10.1109/ICUS50048.2020.9274863","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274863","url":null,"abstract":"3D object detection is a key task in 3D vision perception of autonomous vehicles. In this paper, we present a novel two-stage 3D object detection method aimed to get a more accurate 3D location of an object. We modify existing 3D properties regressing network by adding two additional components, viewpoints classification and the center projection regression of a 3D box’s bottom face (CBF). The center projection is associated with a similar triangle constraint to acquire an initial 3D location of a closed-form solution. For no truncated objects, the previous predicted location is involved in the initial value of over-determined equations constructed by the 2D-3D boxes fitting constraint with the configuration determined by the classified viewpoint. Then the recovered 3D information is utilized to purify the detection results. Results of comparison with state-of-the-art methods on the KITTI dataset show that although conceptually simple, our method outperforms more complex and computationally expensive methods. Furthermore, our method can filter out false alarms and false detection in both 2D and 3D results.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"38 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":"132775988","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
Multi-projectile Coordinated Search Technology for Maritime Mobile Targets 海上机动目标多弹协同搜索技术
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274938
Xinyu Wang, Zhiquan Zhao, Dong Zhang
{"title":"Multi-projectile Coordinated Search Technology for Maritime Mobile Targets","authors":"Xinyu Wang, Zhiquan Zhao, Dong Zhang","doi":"10.1109/ICUS50048.2020.9274938","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274938","url":null,"abstract":"Aiming at the problem of coordinated missile search for moving targets at sea, the target moving area, missile configuration, radar network and search strategy are studied. The potential moving region of the target is calculated based on the initial target movement information. The formation configuration of the missile can be determined through the radar network detection ability and jamming enemy radar ability. Design two modes of line search and curve search; Finally, the simulation is carried out to verify the effectiveness of the method.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"43 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":"133492745","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
An optimization Method of Detection Distance for UAV Remote Control and Telemetry System 无人机遥控遥测系统探测距离优化方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274813
Mengnan Liu, Sen Yao, Min Xiang, B. Qin, Hongbin Wang, Yuchen Li
{"title":"An optimization Method of Detection Distance for UAV Remote Control and Telemetry System","authors":"Mengnan Liu, Sen Yao, Min Xiang, B. Qin, Hongbin Wang, Yuchen Li","doi":"10.1109/ICUS50048.2020.9274813","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274813","url":null,"abstract":"The detection distance of remote control and telemetry system for UAV is an important tactical index, but it is difficult to detect this index in practice. For this reason, many test methods combine simulation and practice are proposed at home and abroad. This paper proposes a new test method of detection distance for UAV. In the process of calculating the detection distance, the detection distance will be got in real time by optimizing the antenna pattern. A kind of GUI software interface based on MATLAB is also designed in this paper which can control the UAV flight process and replay it. Through the introduction of three-dimensional antenna pattern, the detection distance in different attitude can be obtained in real time during the UAV flight. The optimization method proposed in this paper has high ranging accuracy, it realizes the simulation of aircraft flight and system parameters setting compared with traditional method.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"1 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":"117178002","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
Quadruped Robot Locomotion in Unknown Terrain Using Deep Reinforcement Learning 基于深度强化学习的未知地形四足机器人运动
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274920
Muleilan Pei, Dongping Wu, Changhong Wang
{"title":"Quadruped Robot Locomotion in Unknown Terrain Using Deep Reinforcement Learning","authors":"Muleilan Pei, Dongping Wu, Changhong Wang","doi":"10.1109/ICUS50048.2020.9274920","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274920","url":null,"abstract":"This paper is concerned with locomotion problems for the quadruped robot in unknown and unstructured terrains, utilizing the emerging deep reinforcement learning technique. The state-of-the-art deep deterministic policy gradient (DDPG) algorithm is leveraged to acquire the gait policy by learning from interactions with the environment. The framework of learning system is presented based on the actor-critic architecture, and the additional domain-specific knowledge is exploited for shaping the reward function to enhance the learning efficiency during training. Moreover, a simulation study is implemented to validate the performance of the proposed DDPG-based controller.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"1 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":"116308929","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
High-precision Control of Plant Protection Quadrotors Based on Reduced-order Linear Extended State Observer 基于降阶线性扩展状态观测器的植保四旋翼机高精度控制
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274851
Jin Xu, Shigang Liao, Xianhua Ding, Xun Song, Xiaodong Wang, Chuang Lu
{"title":"High-precision Control of Plant Protection Quadrotors Based on Reduced-order Linear Extended State Observer","authors":"Jin Xu, Shigang Liao, Xianhua Ding, Xun Song, Xiaodong Wang, Chuang Lu","doi":"10.1109/ICUS50048.2020.9274851","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274851","url":null,"abstract":"To solve the problem of wind disturbances, disturbance torques and parameter perturbation, a feedback linearization control based on reduced-order linear extended state observer (LESO) is proposed to realize the high-precision control of the plant protection quadrotor. With the construction of the extended state model for the plant protection quadrotor position and attitude angles, the reduce-order LESO is proposed to estimate the model uncertainties. By incorporating the estimation information of reduce-order LESO and the measurement information of the plant protection quadrotor, the feedback linearization control is proposed to realize stale position tracking and angle control. Finally, the effectiveness of this control method is proposed by simulations.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"5 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":"116894033","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
AUV Path Planning for Target Search Using Bioinspired Neural Network 基于生物神经网络的AUV目标搜索路径规划
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274966
Peng Yao, Xin Wei, Liyan Qiu, Yuhui Liu
{"title":"AUV Path Planning for Target Search Using Bioinspired Neural Network","authors":"Peng Yao, Xin Wei, Liyan Qiu, Yuhui Liu","doi":"10.1109/ICUS50048.2020.9274966","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274966","url":null,"abstract":"The bio-inspired neural network is utilized and improved to solve the autonomous underwater vehicle (AUV) path planning problem for target search mission in ocean environment. First, the standard model of Glasius bio-inspired neural network (GBNN) is constructed to reflect the characteristics of the searching region. The activity value of each neuron is updated by the value propagation among neighbors, as well as the stimulus of itself from the detection reward and the constraint of obstacle avoidance. On the basis of activity distribution, the AUV’ s next waypoint is chosen greedily. Second, the standard GBNN is modified to further enhance the searching efficiency. The connection weight between neighbor neurons is modified by the voyage time considering ocean current. The future reward attracted from all the areas with peak probability is introduced into the neuron activity. In addition, when multiple AUVs perform the search mission, the whole region can be divided into parts with the same size by the Voronoi diagrams. The simulation results demonstrate the high efficiency and strong robustness of our method.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"32 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":"116453112","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: 3
Research on Docking Control For Autonomous Aerial Refueline of Unmanned Aerial Vehicles 无人机自主空中加油对接控制研究
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274957
Zhang Shanshan, He Ao, Gao Zhenghong
{"title":"Research on Docking Control For Autonomous Aerial Refueline of Unmanned Aerial Vehicles","authors":"Zhang Shanshan, He Ao, Gao Zhenghong","doi":"10.1109/ICUS50048.2020.9274957","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274957","url":null,"abstract":"Taking the hard air refueling device as an object, the momentum distance method is used to model it, and the dynamic system model which can reflect its motion characteristics is obtained. The PID control law design and Simulation of the model are carried out. The simulation results show that the system has strong resistance to the vertical and horizontal coupling. The ground demonstration of automatic docking is completed on the ground test-bed of the boom aerial refueling device, which further verifies the feasibility of the control design and meets the needs of the engineering design.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"7 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":"125507850","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
3D path planning for AUV in the presence of ocean currents 存在洋流的AUV三维路径规划
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274894
Yanan Li, Haibin Huang, YufeiZhuang, Xiaoli Wang
{"title":"3D path planning for AUV in the presence of ocean currents","authors":"Yanan Li, Haibin Huang, YufeiZhuang, Xiaoli Wang","doi":"10.1109/ICUS50048.2020.9274894","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274894","url":null,"abstract":"In order to acquire a time-optimal path in the presence of time-invariant but position-dependent currents, this paper develops a 3D path planning algorithm for AUV traversing from a starting location to the target location using optimal control theory. First, we consider the kinematics of the AUV for the design, which describes the relationship between AUV’s velocity in 3D space and the motion speed and its yaw and pitch angles. Then, under the constraints that the motion speed, initial and final positions are given, we obtain an optimal control law for the navigation yaw and pitch angles by using Pontryagin’s minimum principle of variational analysis in optimal control theory. Finally, by using the state-space theory of general linear time-invariant dynamical systems, the initial yaw and pitch angles are calculated, after which the optimal transformation time is also obtained. Compared with the existing iterative methods, such as graph search and evolutionary algorithms, this method generates a continuous time-optimal path underthe optimal navigation control law which is more computationally fast. What’s more, considering the position-dependent currents, the path planning of AUV in complex environment is realized. It is verified by simulation that this method can obtain the time-optimal path in the 3D plane in the presence of ocean currents.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"3 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":"122291856","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
Weighted Predictive Coding Methods for Block-Based Compressive Sensing of Images 基于块的图像压缩感知加权预测编码方法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274849
Qunlin Chen, Derong Chen, Jiulu Gong
{"title":"Weighted Predictive Coding Methods for Block-Based Compressive Sensing of Images","authors":"Qunlin Chen, Derong Chen, Jiulu Gong","doi":"10.1109/ICUS50048.2020.9274849","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274849","url":null,"abstract":"Compressive sensing (CS) is beneficial for unmanned reconnaissance systems to obtain high-quality images with limited resources. The existing prediction methods for block-based compressive sensing of images can be regarded as the particular coefficients of weighted predictive coding. To find better prediction coefficients for BCS, this paper proposes two weighted prediction methods. The first method converts the prediction model of measurements into a prediction model of image blocks. The prediction weights are obtained by training the prediction model of image blocks offline, which avoiding the influence of the sampling rates on the prediction model of measurements. Another method is to calculate the prediction coefficients adaptively based on the average energy of measurements, which can adjust the weights based on the measurements. Compared with existing methods, the proposed prediction methods for BCS of images can further improve the reconstruction image quality.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"9 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":"122408167","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
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