2018 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

Stabilization and Optimal Trajectory Generation for a Compact Aerial Manipulation System with a Delta-type Parallel Robot 基于delta型并联机器人的小型航空操纵系统的稳定与最优轨迹生成

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-08-31 DOI: 10.1109/ICUAS.2018.8453444

G. B. Haberfeld, Donglei Sun, N. Hovakimyan

引用次数: 8

Vision-Based Autonomous Landing of a Multi-Copter Unmanned Aerial Vehicle using Reinforcement Learning 基于强化学习的多旋翼无人机视觉自主着陆

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-13 DOI: 10.1109/ICUAS.2018.8453315

Seongheon Lee, Taemin Shim, SungJoong Kim, Junwoo Park, Kyungwoo Hong, H. Bang

引用次数: 29

Nonlinear Flight Control Design for Maneuvering Flight of Quadrotors in High Speed and Large Acceleration 四旋翼飞行器高速大加速度机动飞行的非线性飞行控制设计

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-12 DOI: 10.1109/ICUAS.2018.8453408

K. Peng, F. Lin, S. K. Phang, Ben M. Chen

{"title":"Nonlinear Flight Control Design for Maneuvering Flight of Quadrotors in High Speed and Large Acceleration","authors":"K. Peng, F. Lin, S. K. Phang, Ben M. Chen","doi":"10.1109/ICUAS.2018.8453408","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453408","url":null,"abstract":"The nonlinear flight control design with the hierarchical dynamic inversion (HDI) and recursive control (RC) approaches is presented based on the comprehensive model of a quadrotor to implement the maneuvering flight in high speed and large acceleration. The flight control design comprises the kinematical control, command generation and dynamic control design. The command generation is to convert the required acceleration from the kinematical control into the flight commands of the roll, pitch angles and the heave load acceleration that the dynamic control laws can easily track. The designed nonlinear flight control laws are verified in simulation based on the comprehensive model of the quadrotor. The simulation results demonstrate that the resulting closed-loop system can successfully implement the maneuvering flight in high speed and large acceleration as well as its robustness against the model uncertainties is well. The introduction of the derivative commands of the roll and pitch angles yields a novel flight mode in which the quadrotor head points to a designated direction while the quadrotor conducts the maneuvering flight.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114458448","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: 7

Integrated Navigation Based on DME+VOR/INS Under the Integrated Radio Condition 综合无线电条件下基于DME+VOR/INS的组合导航

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-12 DOI: 10.1109/ICUAS.2018.8453337

L. Yu, Zhu Haifeng, Wei Huabo, Wu Min, Zhu Huizhu

{"title":"Integrated Navigation Based on DME+VOR/INS Under the Integrated Radio Condition","authors":"L. Yu, Zhu Haifeng, Wei Huabo, Wu Min, Zhu Huizhu","doi":"10.1109/ICUAS.2018.8453337","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453337","url":null,"abstract":"In view of the lack of accuracy of INS/GNSS integrated navigation system under the condition of missing satellite navigation (GNSS) signals in specific environment, this paper proposes a DME+VOR/INS integrated navigation method, which tightly coupled INS information and DME+VOR information. For the problem that DME+VOR positioning accuracy is not high and there is a great deal of uncertainty, DME+VOR navigation information is corrected by high dynamic INS navigation information in advance. In view of the existence of the integrate radio system, the information of DME+VOR is uncertain, such as the update time, the new cycle measurement, and the bad environmental interference. By introducing the Sigmoid confidence function, the confidence degree of the information calculated by DME+VOR is extracted. Finally, through the calculation of INS, DME+VOR and electronic compass, the state equation and measurement equation based on EKF are established. The simulation results show that DME+VOR/INS integrated navigation can significantly improve the navigation accuracy of the system, and to meet the navigation and location requirements of the aircraft in the absence of other auxiliary navigation sources such as GNSS signal.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122316346","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: 5

Adaptive Path Planning for Unmanned Aircraft Using In-flight Wind Velocity Estimation 基于飞行风速估计的无人机自适应路径规划

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-12 DOI: 10.1109/ICUAS.2018.8453341

S. Benders, A. Wenz, T. Johansen

引用次数: 8

Vision-based Integrated Navigation System and Optimal Allocation in Formation Flying 基于视觉的组合导航系统与编队飞行中的最优分配

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-12 DOI: 10.1109/ICUAS.2018.8453429

J. Giribet, I. Mas, Patricio Moreno

引用次数: 2

Vibration-Based Propeller Fault Diagnosis for Multicopters 基于振动的多旋翼螺旋桨故障诊断

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-12 DOI: 10.1109/ICUAS.2018.8453400

Behnam Ghalamchi, M. Mueller

引用次数: 23

A Fast Obstacle Collision Avoidance Algorithm for Fixed Wing UAS 一种固定翼无人机快速避障算法

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453307

Zijie Lin, L. Castano, Huan Xu

{"title":"A Fast Obstacle Collision Avoidance Algorithm for Fixed Wing UAS","authors":"Zijie Lin, L. Castano, Huan Xu","doi":"10.1109/ICUAS.2018.8453307","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453307","url":null,"abstract":"This paper presents a novel fast collision avoidance algorithm for navigation in 3D space of fixed-wing Unmanned Aerial Systems (UAS). This algorithm is aimed at increasing the ability of aircraft operations to complete mission goals by enabling fast collision avoidance of multiple obstacles. The new algorithm, named Flexible Geometric Algorithm (FGA), combines geometric avoidance of obstacles and selection of a critical avoidance start time based on kinematic considerations. FGA reduced computational time by 90% when compared to current waypoint generation methods for collision avoidance. The starting point for the avoidance time window is determined by collision likelihood. Using this algorithm, the (Unmanned Air Vehicle) UAV is able to avoid static and dynamic obstacles while still being able to recover its original trajectory after successful collision avoidance. Simulations for different mission scenarios show that this method is much more efficient at avoiding multiple obstacles than other methods. Algorithm effectiveness validation is provided with Monte Carlo simulations and parametric results. In addition, this algorithm does not have specific requirements on the sensor data types and can be applied to cooperative and non-cooperative intruders.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115697276","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: 10

Adaptive Neural Network Based Intelligent Control for Unmanned Aerial Systems with System Uncertainties and Disturbances 具有系统不确定性和干扰的无人机系统自适应神经网络智能控制

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453450

Mohammad Jafari, Hao Xu

{"title":"Adaptive Neural Network Based Intelligent Control for Unmanned Aerial Systems with System Uncertainties and Disturbances","authors":"Mohammad Jafari, Hao Xu","doi":"10.1109/ICUAS.2018.8453450","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453450","url":null,"abstract":"This paper proposes an adaptive neural network based intelligent controller to stabilize the Unmanned Aircraft Systems (UAS) under complex environment including system uncertainties, unknown noise and/or disturbance. The proposed adaptive neural network controller is based on a class of artificial neural network, named Radial Basis Function (RBF) networks. Firstly, we develop a neural network based identifier that can handle the unknown dynamics and uncertainties in the system. Then, a neural network based controller is generated based on both the identified model of the system and the linear or nonlinear controller. The linear or nonlinear controller is utilized to ensure the stability of the system during its online training phase. The learning capability of the proposed intelligent controller makes it a promising approach to take system uncertainties, noises and/or disturbances into account. The satisfactory performance of the proposed intelligent controller is validated based on the computer based simulation results of a benchmark UAS with system uncertainties and disturbances, such as wind gusts disturbance.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115697997","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: 5

Coordinated Standoff Tracking of a Ground Moving Target and the Phase Separation Problem 地面运动目标的协调对峙跟踪与相分离问题

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453292

Nick-Marios T. Kokolakis, N. Koussoulas

引用次数: 11