2018 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第8页

Voronoi-based UAVs Formation Deployment and Reconfiguration using MPC Techniques 基于voronoi的无人机编队部署与MPC重新配置

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453342

T. Chevet, C. Maniu, C. Vlad, Youmin Zhang

引用次数: 14

ICUAS 2018 Cover Page ICUAS 2018封面

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/icuas.2018.8453321

引用次数: 0

AIRA-UAS: an Evaluation Corpus for Audio Processing in Unmanned Aerial System AIRA-UAS:无人机系统音频处理评价语料库

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453466

Oscar Ruiz-Espitia, J. Martínez-Carranza, C. Rascón

引用次数: 14

Analysis of a Multirotor UAV with Tilted-Rotors for the Purposes of Disturbance Rejection 多旋翼倾转旋翼无人机抗扰性能分析

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453383

Z. J. Chen, J. X. J. Bannwarth, K. Stol, P. Richards

{"title":"Analysis of a Multirotor UAV with Tilted-Rotors for the Purposes of Disturbance Rejection","authors":"Z. J. Chen, J. X. J. Bannwarth, K. Stol, P. Richards","doi":"10.1109/ICUAS.2018.8453383","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453383","url":null,"abstract":"The station-keeping performance of multirotor UAVs in a turbulent wind field is of importance for a number of applications where close proximity to objects in the environment is expected. In this work, a tilted-rotor UAV which is able to generate horizontal forces without attitude changes is analysed over a range of wind speeds expected to be encountered in operation. The analysis process integrates aerodynamic models obtained from experimental tests, and compares the magnitude and bandwidth of the horizontal thrust force able to be generated by the tilted-rotor concept against a conventional UAV with rotors oriented along a common axis. It is found that while the tilted-rotor UAV is not able to generate as much thrust in the horizontal plane compared to conventional actuation involving attitude changes, it is able to offer an actuation bandwidth one order of magnitude greater than that of conventional actuation. The synergistic combination of both actuation methods on a single UAV thus has the potential to lead to improved station-keeping performance, while reducing high frequency attitude corrections.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"17 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":"131871662","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

Automated Maneuvering Decision for UAVs in Forest Surveillance and Fire Detection Missions* 无人机在森林监视和火灾探测任务中的自动机动决策*

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453322

Lidong Zhang, Lingxia Mu, Zhixiang Liu, Youmin Zhang, J. Ai

{"title":"Automated Maneuvering Decision for UAVs in Forest Surveillance and Fire Detection Missions*","authors":"Lidong Zhang, Lingxia Mu, Zhixiang Liu, Youmin Zhang, J. Ai","doi":"10.1109/ICUAS.2018.8453322","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453322","url":null,"abstract":"As a exible, efficient, and powerful platform for a variety of practical applications, the unmanned aerial vehicle (UAV) has attracted increasing attention in the field of forest re monitoring, detection, and tracking in recent years. Generally, more complicated and heavier tasks can be achieved by using a team of UAVs other than a single UAV. However, a possible problem is that faults may occur on a UAV in the formation or the power may gradually run out during the task, so that the disabled UAV must be replaced by a newly assigned UAV from the base. Hence, the problem becomes how to guide the new UAV to join the team in an optimal manner, and then to maintain the formation during the remaining task. Meanwhile, collision avoidance should be involved to avoid hazardous impacts from other formation members during the whole mission. To solve these challenges, an automated maneuvering decision strategy consisting of a tailored scoring function and a game tree decision algorithm is developed in this study. The newly assigned UAV can be guided to join the patrol team from arbitrary initial locations, and the formation can be maintained during the patrol task in the presence of disturbances. Numerical simulations are conducted to validate the proposed decision strategy.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"61 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":"128245548","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: 9

Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs 四旋翼静尾垂直起降无人机频域模型辨识与环形控制器设计

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453475

Jinni Zhou, X. Lyu, Xiaoyu Cai, Zexiang Li, S. Shen, Fu Zhang

{"title":"Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs","authors":"Jinni Zhou, X. Lyu, Xiaoyu Cai, Zexiang Li, S. Shen, Fu Zhang","doi":"10.1109/ICUAS.2018.8453475","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453475","url":null,"abstract":"In this paper, we present a practical and systematic method of model identification and controller design for a quadrotor tail-sitter UAV that is susceptible to significant model uncertainty, various flexible modes and complicated aerodynamic damping effect. Flight experiments are designed and carried out to produce a frequency domain model of the aircraft, from which several flexible modes are observed. This system identification method is well suited to the modeling of complex UAV systems, and allows for the rapid update of aircraft models when mechanical changes are made to the aircraft configuration. Besides this, it clearly captures the flexible modes of an aircraft, and enables explicit analysis of them. Guided by this, the controller design, optimization and limitations can be easily seen. Based on the Bode diagram of the identified aircraft model, loop-shaping techniques are applied to design the feedback controllers for all channels (pitch, roll and yaw) of the angular rate loop, and the system stability and robustness are analyzed. We believe that these frequency-domain-based modeling and controller design techniques are promising to qualitatively characterize the aircraft's robustness and performance, as well as to achieve reliable and safe operations of UAVs in actual environments where both model uncertainties and external disturbances often take place. Finally, simulation and experiments are presented to validate the effectiveness of this framework and to show the controller's performance.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"43 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":"128260443","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

A generalized algorithm for tuning UAS flight controllers* 一种用于调整无人机飞行控制器的广义算法*

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453451

Holly J. Wright, Reuben Strydom, M. Srinivasan

引用次数: 1

Curvature Continuous Path Generation for UAVs based on Generalized Expo-Rational B-Splines 基于广义有理b样条的无人机曲率连续路径生成

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453415

T. S. Andersen, Ghada Bouzidi, R. Kristiansen

引用次数: 0

Low-cost multispectral imaging system for crop monitoring 低成本作物监测多光谱成像系统

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453426

A. M. de Oca, L. Arreola, A. Flores, J. Sanchez, G. Flores

引用次数: 37

Impact of Sensors on Collision Risk Prediction for Non-Cooperative Traffic in Terminal Airspace 传感器对终端空域非合作交通碰撞风险预测的影响

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453424

C. H. John Wang, S. K. Tan, Lynette Koay Jie Ting, Kin Huat Low

{"title":"Impact of Sensors on Collision Risk Prediction for Non-Cooperative Traffic in Terminal Airspace","authors":"C. H. John Wang, S. K. Tan, Lynette Koay Jie Ting, Kin Huat Low","doi":"10.1109/ICUAS.2018.8453424","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453424","url":null,"abstract":"The availability of off the shelf, easy to control, unmanned aerial systems (UAS) on the market has led to an increase in report of UAS incursion into terminal airspace. Such incursions often lead to airport shutdowns due to safety concern and could cause a cascading disruption to airline operations throughout the region. A better assessment tool for the collision risk between the existing air traffic and the intruder could help reduce unnecessary disruption to air traffic operations. Work has been done on the assessment of such risk using probabilistic UAS positions prediction based on Monte-Carlo simulations, under the assumption of a non-cooperative intruder with worst-case intention aiming at the flight corridor. Alert areas around the runway and the aircraft flight path could be constructed using the collision prediction method, albeit only valid under specific conditions. The accuracy of the predictions could be further improved with the incorporation of ground-based tracking equipment. This paper looks into how the availability of UAS tracking information could be used to complement the collision prediction algorithm, and how its inclusion affects the collision risk assessment.","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":"129724698","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