Unmanned Syst.最新文献_第6页

Discrete Pigeon-Inspired Optimization-Simulated Annealing Algorithm and Optimal Reciprocal Collision Avoidance Scheme for Fixed-Wing UAV Formation Assembly 固定翼无人机编队装配离散鸽子优化模拟退火算法及最优互避方案

Unmanned Syst. Pub Date : 2021-02-06 DOI: 10.1142/s230138502141003x

Xuzan Liu, Yu Han, Jian Chen

引用次数: 3

A Behavior-Based Mobile Robot Navigation Method with Deep Reinforcement Learning 基于行为的深度强化学习移动机器人导航方法

Unmanned Syst. Pub Date : 2021-02-05 DOI: 10.1142/s2301385021410041

Juncheng Li, Maopeng Ran, Han Wang, Lihua Xie

引用次数: 9

Reverse Engineering and Database of Off-the-Shelf Propellers for Middle-Size Multirotors 中型多旋翼机螺旋桨的逆向工程与数据库

Unmanned Syst. Pub Date : 2021-01-18 DOI: 10.1142/S2301385021500163

Yeong-Ki Jung, K. Chang, Sang-Hwan Park, Van-Thanh Ho, H. Shim, Min-Woo Kim

引用次数: 0

Survey on the Development of Aerial-Aquatic Hybrid Vehicles 航水混合动力汽车发展概况

Unmanned Syst. Pub Date : 2020-12-10 DOI: 10.1142/s2301385021410028

Y. Tan, Ben M. Chen

{"title":"Survey on the Development of Aerial-Aquatic Hybrid Vehicles","authors":"Y. Tan, Ben M. Chen","doi":"10.1142/s2301385021410028","DOIUrl":"https://doi.org/10.1142/s2301385021410028","url":null,"abstract":"As the development of mobile robots matures, there is an increasing amount of interest in expanding the functionality of such robots through developing multimodal locomotion. As compared to land–water or land–air hybrids, the design of air–water vehicles is much less straightforward due to the fact that both mediums are three-dimensional fluid spaces and there is inherent disparity in fluid properties between them. As such, the development of these vehicles has received limited attention until very recently. Nevertheless, the potential applications of such vehicles range widely from military surveillance, oceanic data collection to heterogeneous robot team operation, which has led to an increasing number of projects working on aerial–aquatic hybrid mobility. In this paper, we discuss the fundamental challenges associated with aerial–aquatic hybrid locomotion as well as the necessary trade-offs in design decisions. We also summarize and review the existing work and prototypes of aerial–aquatic vehicles that have been designed thus far, analyzing the range of solutions that have been adopted to solve the aforementioned challenges. Lastly, the limitations of these solutions are analyzed to offer a perspective on how future developments in the area can enable greater functionality for the concept.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":"254 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134641449","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: 11

A Survey of Motion and Task Planning Techniques for Unmanned Multicopter Systems 无人多旋翼机系统运动与任务规划技术综述

Unmanned Syst. Pub Date : 2020-11-30 DOI: 10.1142/s2301385021500151

Menglu Lan, Shupeng Lai, Tong-heng Lee, Ben M. Chen

引用次数: 17

A New Nonlinear Control Design Strategy for Fixed Wing Aircrafts Piloting 一种新的固定翼飞行器驾驶非线性控制设计策略

Unmanned Syst. Pub Date : 2020-11-25 DOI: 10.1142/s2301385021500126

A. Hamissi, K. Busawon, L. Dala, Y. Bouzid, M. Zaouche, M. Hamerlain

{"title":"A New Nonlinear Control Design Strategy for Fixed Wing Aircrafts Piloting","authors":"A. Hamissi, K. Busawon, L. Dala, Y. Bouzid, M. Zaouche, M. Hamerlain","doi":"10.1142/s2301385021500126","DOIUrl":"https://doi.org/10.1142/s2301385021500126","url":null,"abstract":"This paper proposes a novel nonlinear feedback control strategy for velocity and attitude control of fixed wing aircrafts. The key feature of the control design strategy is the introduction of a virtual control input in order to deal with the underactuation property of such vehicles and to indirectly control the orientation of the aircraft. As such, the proposed strategy consists of three control loops each realizing a specific task. Simulations are carried out by using the jetstream-3102 aircraft in a real-time virtual Simulation Platform for the development of Aircraft Control Systems (SP-ACS). The proposed approach of control is model-based for which we have introduces an identification part before test and validation. We use the Total Least Squares Estimation (TLSE) technique to identify the aerodynamic parameters, which are unknown, variable and classified. Each aerodynamic coefficient is defined as the mean of its numerical values. All other variations are considered as modeling uncertainties that will be compensated by the robustness of the piloting law. Simulation results on Jetstream-3102 aircraft show very good performance in terms of convergence towards the desired reference trajectories and in terms of robustness with respect to modeling uncertainties.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115164777","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

Survey on Localization Systems and Algorithms for Unmanned Systems 无人系统定位系统与算法研究综述

Unmanned Syst. Pub Date : 2020-11-21 DOI: 10.1142/s230138502150014x

Shenghai Yuan, Han Wang, Lihua Xie

{"title":"Survey on Localization Systems and Algorithms for Unmanned Systems","authors":"Shenghai Yuan, Han Wang, Lihua Xie","doi":"10.1142/s230138502150014x","DOIUrl":"https://doi.org/10.1142/s230138502150014x","url":null,"abstract":"Intelligent unmanned systems have important applications, such as pesticide-spraying in agriculture, robot-based warehouse management systems, and missile-firing drones. The underlying assumption behind all autonomy is that the agent knows its relative position or egomotion with respect to some reference or scene. There exist thousands of localization systems in the literature. These localization systems use various combinations of sensors and algorithms, such as visual/visual-inertial SLAM, to achieve robust localization. The majority of the methods use one or more sensors from LIDAR, camera, IMU, UWB, GPS, compass, tracking system, etc. This survey presents a systematic review and analysis of published algorithms and techniques chronologically, and we introduce various highly impactful works. We provide insightful investigation and taxonomy on sensory data forming principle, feature association principle, egomotion estimation formation, and fusion model for each type of system. At last, some open problems and directions for future research are also included. We aim to survey the literature comprehensively to provide a complete understanding of localization methodologies, performance, advantages and limitations, and evaluations of various methods, shedding some light for future research.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114607442","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: 24

Impact of N-Shaped Wing Morphing on Solar-Powered Aircraft n型机翼变形对太阳能飞机的影响

Unmanned Syst. Pub Date : 2020-11-19 DOI: 10.1142/s2301385021500138

M. El-Salamony, M. Aziz

引用次数: 5

Optimal Solution of a Target Defense Game with Two defenders and a Faster Intrude 具有两个防御者和一个快速入侵的目标防御博弈的最优解

Unmanned Syst. Pub Date : 2020-10-30 DOI: 10.1142/s2301385021410016

Han Fu, H. Liu

{"title":"Optimal Solution of a Target Defense Game with Two defenders and a Faster Intrude","authors":"Han Fu, H. Liu","doi":"10.1142/s2301385021410016","DOIUrl":"https://doi.org/10.1142/s2301385021410016","url":null,"abstract":"A target defense game with two defenders and a faster intruder is solved based on the classic differential game theory. In the game, the intruder seeks to enter a circular target area, while the defenders endeavor to capture it outside of the target. Under the faster intruder assumption, the game has two phases, where the optimal trajectories are straight and curved, respectively. In the second phase, a peculiar phenomenon exists where the intruder moves at the edge of one defender’s capture region, yet this defender cannot force capture. Because of this, the terminal states of the game are singular, therefore the standard method of integrating optimal trajectories from terminal states is not applicable. The way to circumvent this singularity is to solve the optimal trajectories of a two-player game between the intruder and the closer defender, and assemble them with the trajectory of the other defender. The key contribution of this paper is the solution of the intruder-closer-defender subgame against a circular target area. In the vector field of the optimal trajectories, two singular surfaces and a singular point are observed. Each singular surface indicates a discontinuity in the closer defender’s control, while the singular point represents a situation where the target is successfully protected by a single defender. The complete solution of the two-defender game is solved based on the result of the intruder-closer-defender subgame. The proposed solution is verified through a special case where the capture range is zero. This verification also presents a simpler approach of solving the zero capture range problem.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125595528","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: 4

Investigation of Orientation Estimation of Multiple IMUs 多imu方向估计的研究

Unmanned Syst. Pub Date : 2020-10-29 DOI: 10.1142/S2301385021500114

Simone A. Ludwig

引用次数: 2