2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)最新文献

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Nonlinear flight navigation controller for an octorotor unmanned aerial vehicle 旋翼无人机非线性飞行导航控制器

2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE) Pub Date : 2021-11-01 DOI: 10.1109/ICMEAE55138.2021.00016

Pablo A. Tellez-Belkotosky, E. Javier Ollervides-Vazquez, E. G. Rojo-Rodriguez, Juan L. Santillan-Avila, L. E. Cabriales-Ramírez, M. A. Gutierrez-Martinez, O. Garcia-Salazar

{"title":"Nonlinear flight navigation controller for an octorotor unmanned aerial vehicle","authors":"Pablo A. Tellez-Belkotosky, E. Javier Ollervides-Vazquez, E. G. Rojo-Rodriguez, Juan L. Santillan-Avila, L. E. Cabriales-Ramírez, M. A. Gutierrez-Martinez, O. Garcia-Salazar","doi":"10.1109/ICMEAE55138.2021.00016","DOIUrl":"https://doi.org/10.1109/ICMEAE55138.2021.00016","url":null,"abstract":"In this research, a feedback nonlinear controller for an unmanned aerial vehicle octorotor is developed. The proposed controller scheme is designed with a Nonlinear Proportional Velocity (NLPV) term, plus a Linear Integral (LI) term. The tracking controller NLPV plus LI is based on a two layer bounded controller with saturation approach. The Newton Euler formulation is applied to obtain a mathematical model of the octorotor Unmanned Aerial Vehicle (UAV). This modeling approach is applied to obtain the motion equations coupling moments and forces by extracting two sets of interconnected attitude and translational equations. In the design of a flight navigation controller with two layers, the inner layer consists of NLPV plus LI controller that is applied to the attitude dynamics, obtaining the references for the coupling outer layer NLPV plus LI controller, which manipulates the translational dynamics. The navigation NLPV plus LI controller is saturated for bounding in translational forces, to avoid large deviations of commands to Euler angles pitch and roll , another saturated controller is applied for the bounded thrust rotor to avoid the excessive speed of the propellers. The simulation of the flight navigation of an octorotor is performed to test the tracking control of a cylindrical trajectory, which is presented as a validation for the proposed control scheme.","PeriodicalId":188801,"journal":{"name":"2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121809688","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

2D Grid Map Generation for Deep-Learning-based Navigation Approaches 基于深度学习的导航方法的二维网格地图生成

2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE) Pub Date : 2021-10-25 DOI: 10.1109/ICMEAE55138.2021.00018

Gabriel O. Flores-Aquino, Jheison Duvier D'iaz Ortega, R. Arvizu, Ra'ul L'opez Munoz, Ó. Gutiérrez-Frías, J. I. Vasquez-Gomez

{"title":"2D Grid Map Generation for Deep-Learning-based Navigation Approaches","authors":"Gabriel O. Flores-Aquino, Jheison Duvier D'iaz Ortega, R. Arvizu, Ra'ul L'opez Munoz, Ó. Gutiérrez-Frías, J. I. Vasquez-Gomez","doi":"10.1109/ICMEAE55138.2021.00018","DOIUrl":"https://doi.org/10.1109/ICMEAE55138.2021.00018","url":null,"abstract":"In the last decade, autonomous navigation for robotics has been leveraged by deep learning and other approaches based on machine learning. These approaches have demonstrated significant advantages in robotics performance. But they have the disadvantage that they require a lot of data to infer knowledge. In this paper, we present an algorithm for building 2D maps with attributes that make them useful for training and testing machine-learning-based approaches. The maps are based on dungeons environments where several random rooms are built and then those rooms are connected. In addition, we provide a dataset with 10,000 maps produced by the proposed algorithm and a description with extensive information for algorithm evaluation. Such information includes validation of path existence, the best path, distances, among other attributes. We believe that these maps and their related information can be useful for robotics enthusiasts and researchers who want to test deep learning approaches. The dataset is available at https://github.com/gbriel21/map2D dataSet.git.","PeriodicalId":188801,"journal":{"name":"2021 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114438146","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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