2018 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第7页

Cascaded Model-Free Control for trajectory tracking of quadrotors 四旋翼机轨迹跟踪的级联无模型控制

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453339

Maria Bekcheva, C. Join, H. Mounier

引用次数: 10

Distributed Collision Avoidance for Unmanned Aerial Vehicles Integration in the Civil Airspace 民用空域无人机集成分布式避碰

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453432

E. D’Amato, I. Notaro, M. Mattei

{"title":"Distributed Collision Avoidance for Unmanned Aerial Vehicles Integration in the Civil Airspace","authors":"E. D’Amato, I. Notaro, M. Mattei","doi":"10.1109/ICUAS.2018.8453432","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453432","url":null,"abstract":"The Unmanned Aerial Vehicles (UAVs) integration in the civil air traffic will contribute to the reduction of technical barriers related to safety and operational challenges associated with enabling routine UAV access to the civil airspace. While manned aircraft involve pilots and the Air Traffic Controller to take decisions, and follow their preassigned paths to avoid collisions with other aircraft, UAVs still need the definition of algorithms and rules. In this paper, a collision avoidance algorithm based on International Civil Aviation Organization (ICAO) rules to resolve possible conflicts among aircraft that are on a collision course while flying to their respective destinations is proposed. The proposed algorithm is based on the combination of collision prediction, speed optimization and inverse proportional navigation algorithms. Different strategies are activated on the basis of the UAV status and in particular on the evaluation of the risk level leading the UAV in a de-confliction or avoidance mode. Numerical simulations are presented to show the effectiveness of the proposed approach in the presence of many UAVs.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"31 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":"116652908","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

Aerial Robot Coworkers for Autonomous Localization of Missing Tools in Manufacturing Plants 制造工厂工具丢失自动定位的空中机器人同事

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453291

J. R. Martínez-De Dios, A. Torres-González, J. Paneque, Dimas Fuego-García, Juan Ramón Astorga Ramírez, A. Ollero

引用次数: 4

USE OF OPEN SOURCE TOOLS AND WIND TUNNEL DATA IN UAV PROPELLER MODELING FOR DYNAMIC SIMULATION 利用开源工具和风洞数据在无人机螺旋桨建模中进行动态仿真

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453304

C. Ulloa, G. Rey, V. Padrón, J. Núñez

{"title":"USE OF OPEN SOURCE TOOLS AND WIND TUNNEL DATA IN UAV PROPELLER MODELING FOR DYNAMIC SIMULATION","authors":"C. Ulloa, G. Rey, V. Padrón, J. Núñez","doi":"10.1109/ICUAS.2018.8453304","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453304","url":null,"abstract":"The modeling of propellers is a topic of interest, with the growing use of Unmanned Aerial Vehicles (UAV). Due to the complexity of their geometries, the theoretical models proposed are very simplified and the best approximation to their performances is the experimental or the CFD approaches. Currently, there are many scientific works published with information regarding the operation of commercial models of propellers for drones. In the present work the approximation to propellers modeling from a Eulerian point of view is introduced. It is also exposed how the nondimensional parameters of propellers propulsion are obtained. Using these parameters, a methodology to obtain the necessary power, thrust and performance of the propeller, from the velocity of the mass of air, the diameter of the propeller, and its speed of rotation, is proposed. The presented methodology intends to use the abundant scientific studies in wind tunnel to adjust regression equations applied to curves of performance. Finally, it is proposed the design of a black box that predicts the operation of the drone propellers, introducing the regression equations in a “black-box” model.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"49 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":"132949538","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

Robust Formation Control for a Team of Satellites* 一组卫星的鲁棒编队控制*

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453317

Hao Liu, Yuhong Tian, F. Lewis, Yan Wan, K. Valavanis

引用次数: 1

Are You Clear About “Well Clear”? 你清楚“很清楚”吗?

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453405

Guido Manfredi, Y. Jestin

{"title":"Are You Clear About “Well Clear”?","authors":"Guido Manfredi, Y. Jestin","doi":"10.1109/ICUAS.2018.8453405","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453405","url":null,"abstract":"Regulations from the ICAO use the term Well Clear without defining it. Now, this definition is needed to design air traffic Detect And Avoid systems. A definition is currently discussed at the ICAO level, with work on the associated Remain Well Clear (RWC) function underway at standardisation bodies level (RTCA, EUROCAE). But many members of the communities impacted by these works are not well aware of their state. To address this lack of awareness, this paper provides three contributions. First, it derives from ICAO texts the components of a RWC function: boundaries, alerts and guidances. These are linked to essential elements required to define the Well Clear term: a start and end, the actors involved, and the expected actions. Second, it summarizes the current regulatory efforts in RTCA, EUROCAE and ICAO regarding the Well Clear and Remain Well Clear notions. Third, it proposes discussion topics to move forward. From a DAA perspective, the notion of Well Clear is key to unlock RPAS full integration, i.e., operation in all classes of airspaces. Though existing works make good progress, the resources engaged on this topic seem insufficient when compared with the complexity and importance of the task at hand.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"14 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":"125610066","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

Distributed Formation Control and Navigation of Fixed-wing UAVs at Constant Altitude 固定翼无人机定高度分布式编队控制与导航

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453462

Kaveh Fathian, T. Summers, N. Gans

引用次数: 10

Pursuit-evasion of an Evader by Multiple Pursuers 追捕-多个追捕者对一个逃避者的逃避

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453470

Alexander Von Moll, D. Casbeer, Eloy García, D. Milutinović

引用次数: 26

Operational Considerations for Autonomous Aerial Monitoring 自主空中监测的操作考虑

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453364

C. Olsen, D. Kunz

{"title":"Operational Considerations for Autonomous Aerial Monitoring","authors":"C. Olsen, D. Kunz","doi":"10.1109/ICUAS.2018.8453364","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453364","url":null,"abstract":"We explore the suitability of the Maximal Distance Discounted & Weighted Revisit Period utility function as a basis for task selection by an autonomous aerial vehicle in the presence of operational factors. The vehicles must persistently visit tasks that are located throughout a broad region. The four operational factors considered are Dubins constraints on vehicle motion, the presence of no-fly zones in the mission area, return to base requirements, and the addition/removal of vehicles and tasks throughout the mission. We show Euclidean distance to be a sufficient basis for estimating travel times so long as the ratio of the vehicle turning radius to the average distance between tasks is less than 0.3. We also develop a means by which the effect of a no-fly zone on the mission can be measured, which we call the Impact Ratio, and begin to characterize when the utility function parameters must be adjusted due to a no-fly zone. Furthermore, we show that the utility function is capable of meeting a required revisit window to a base node by adjusting task weight parameters. Finally, we demonstrate that our utility function automatically adapts to a changing mission environment, whether those changes are planned by operators or the result of unforeseen events.","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":"127046146","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

A Coordinate Descent Method for Multidisciplinary Design Optimization of Electric-Powered Winged UAVs 电动翼无人机多学科优化设计的坐标下降法

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453458

Haowei Gu, Xiaoyu Cai, Jinni Zhou, Zexiang Li, S. Shen, Fu Zhang

{"title":"A Coordinate Descent Method for Multidisciplinary Design Optimization of Electric-Powered Winged UAVs","authors":"Haowei Gu, Xiaoyu Cai, Jinni Zhou, Zexiang Li, S. Shen, Fu Zhang","doi":"10.1109/ICUAS.2018.8453458","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453458","url":null,"abstract":"In this paper, we present an optimization framework for the conceptual design of electric-powered unmanned aerial vehicles (UAVs) with wings, to meet the community’s ever increasing interest in developing novel efficient winged UAVs. In our framework, the UAV design is formulated as an optimization problem with a user-defined objective. It also accepts various constraints, such as restricted aircraft size, weight, and preliminary wing (and fuselage) shape determined by industrial design, limited availability of propulsion systems, etc. Such a framework is particularly suitable for the design of small UAVs with many practical limitations, such as portability, size, cost, etc. In evaluating a given aircraft configuration (e.g., wing, fuselage, landing gears, etc.), we adopt various empirical aerodynamic models that have been commonly used in aviation history. We also retrieve hundreds of propeller and motor data from their manufacturers and fit them to constitute a high-fidelity propulsion system database. Wind tunnel testing on existing airframe data shows that our aerodynamic models fit the measurements very well. Propeller testing is also carried out to validate the fitted propeller model. With the ability to evaluate a given aircraft and propulsion, we propose a coordinate descent method that nicely decouples the optimization for the aircraft configuration, which involves continuous variables, and the propulsion system, which involves discrete variables (e.g., motor index, propeller index). With the presented optimization framework and coordinate descent method, a quadrotor tail-sitter vertical takeoff and landing (VTOL) UAV is designed, manufactured and tested.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"18 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":"126718290","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: 8