2013 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

Modeling and control of a novel tilt — Roll rotor quadrotor UAV 一种新型倾转旋翼四旋翼无人机的建模与控制

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-07-22 DOI: 10.1109/ICUAS.2013.6564796

Fatih Senkul, E. Altuğ

{"title":"Modeling and control of a novel tilt — Roll rotor quadrotor UAV","authors":"Fatih Senkul, E. Altuğ","doi":"10.1109/ICUAS.2013.6564796","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564796","url":null,"abstract":"The use of unmanned aerial vehicles (UAVs) for military, scientific, and civilian sectors are increasing drastically in recent years. The quadrotor platform has been used for many applications and research studies, as well. One of the limiting factors that prevents further implementation of the quadrotor system into applications, is the way quadrotor moves. It needs to tilt along the desired direction of motion. By doing this it can have necessary acceleration towards that direction. But tilting has the undesired effect of moving the onboard cameras' direction of view. This becomes an issue for surveillance and other vision based tasks. This study presents the design and control of a novel quadrotor system. Unlike previous study that uses regular quadrotor, this study proposes an alternative propulsion system formed by tilting rotors. This design eliminates the need of tilting the airframe, and it suggests superior performance with respect to regular quadrotor design. The mathematical model of the tiltable-rotor type quadrotor and designed control algorithms are explained. Various simulations are developed on MATLAB, in which the proposed quadrotor aerial vehicle has been successfully controlled. Comparison of the proposed system to regular quadrotor suggests better performance.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"43 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125673435","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: 63

Lightweight infrared sensing for relative navigation of quadrotors 用于四旋翼相对导航的轻型红外传感

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-07-22 DOI: 10.1109/ICUAS.2013.6564807

M. Cutler, Bernard Michini, J. How

引用次数: 17

Tracking tagged fish with swarming Unmanned Aerial Vehicles using fractional order potential fields and Kalman filtering 基于分数阶势场和卡尔曼滤波的蜂群无人机跟踪标签鱼

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-07-22 DOI: 10.1109/ICUAS.2013.6564805

A. Jensen, Y. Chen

{"title":"Tracking tagged fish with swarming Unmanned Aerial Vehicles using fractional order potential fields and Kalman filtering","authors":"A. Jensen, Y. Chen","doi":"10.1109/ICUAS.2013.6564805","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564805","url":null,"abstract":"Tracking fish using implanted radio transmitters is an important part of studying and preserving native fish species. However, conventional methods for locating the fish after they are tagged can be time consuming and costly. Unmanned Aerial Vehicles (UAV)s have been used in general radio localization applications and can possibly be used to locate fish quickly and effectively. However, the methods developed for multi-UAV navigation and transmitter localization are complex and might not work well for practical and routine use. This work focuses on developing simple methods for multi-UAV navigation and transmitter localization. Swarm-like navigation methods (using potential fields) are used for multi-UAV navigation, and a simple Kalman Filter is used to estimate the location of the transmitter. Simulations are presented using one, two and three UAVs. The simulation results show the success with locating the transmitter with two or three UAVs. In addition, coordination between the UAVs is successful using the simple rules of their virtual magnetic fields. A clustering behavior is observed and contributes to the success of the localization.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129651907","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: 20

Proportional Integral Derivative and Linear Quadratic Regulation of a multirotor attitude: Mathematical modelling, simulations and experimental results 多转子姿态的比例积分导数和线性二次调节:数学建模、仿真和实验结果

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564718

A. Gargioli, F. Rinaldi, F. Quagliotti

引用次数: 6

Some aspect of human features of the use of Unmanned Aerial Systems in a disaster-specific division 某些方面的人的特点，使用无人机系统在灾害特定部门

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564791

Á. Restás, Zoltán Dudás

引用次数: 6

Decentralized control of unmanned aerial vehicles for multitarget tracking 无人机多目标跟踪的分散控制

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564698

Shankarachary Ragi, E. Chong

引用次数: 11

A passive velocity field for navigation of quadrotors with model-free integral sliding mode control 无模型积分滑模控制四旋翼飞行器导航的无源速度场

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564673

A. Muñoz‐Vázquez, Vicente Parra‐Vega, A. Sanchez, H. Ramirez-Rodriguez

{"title":"A passive velocity field for navigation of quadrotors with model-free integral sliding mode control","authors":"A. Muñoz‐Vázquez, Vicente Parra‐Vega, A. Sanchez, H. Ramirez-Rodriguez","doi":"10.1109/ICUAS.2013.6564673","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564673","url":null,"abstract":"Velocity field (VF) control has proved effective for mobile robots and robot arms, aiming essentially at navigation and obstacle avoidance under position and velocity control in cluttered environment, however additional features are required for quadrotors due to its underactuated flight dynamics. The design of a VF control then comprises of two aspects, the design of the desired trajectories based on the VF and the design of the controller that guarantees tracking of such trajectories. In this paper, we propose a constructive method to design a passive VF for desired underactuated translational velocities; for desired orientation trajectories and due to the underactuation, those depend on the VF and the position controller from the analytical solution of the derivative of the rotation matrix. The controller uses model-free and chattering-free integral sliding modes for position and for attitude dynamics without requiring derivative of the VF nor assumption on boundedness on the integral of the VF nor the quadrotor dynamic model to withstand robustness against parametric and model uncertainties. It is shown that the controller steers the quadrotor onto the VF for all time and any initial conditions so as to the quadrotor behaves accordingly to the properties of the VF, such as exponential convergence toward the time-invariant nominal spatial contour for a robust and fast, yet smooth, approaching for easy manoeuvring. Simulations are discussed, and remarks address the viability of the proposed approach.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129742540","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

Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles 无人驾驶飞机和地面车辆的导航、定位和编队稳定

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564767

M. Saska, T. Krajník, Vojtěch Vonásek, P. Vanek, L. Preucil

{"title":"Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles","authors":"M. Saska, T. Krajník, Vojtěch Vonásek, P. Vanek, L. Preucil","doi":"10.1109/ICUAS.2013.6564767","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564767","url":null,"abstract":"A leader-follower formation driving algorithm developed for control of heterogeneous groups of unmanned micro aerial and ground vehicles stabilized under a top-view relative localization is presented in this paper. The core of the proposed method lies in a novel avoidance function, in which the entire 3D formation is represented by a convex hull projected along a desired path to be followed by the group. Such a representation of the formation provides non-collision trajectories of the robots and respects requirements of the direct visibility between the team members in environment with static as well as dynamic obstacles, which is crucial for the top-view localization. The algorithm is suited for utilization of a simple yet stable visual based navigation of the group (referred to as GeNav), which together with the on-board relative localization enables deployment of large teams of micro-scale robots in environments without any available global localization system. We formulate a novel Model Predictive Control (MPC) based concept that enables to respond to the changing environment and that provides a robust solution with team members' failure tolerance included. The performance of the proposed method is verified by numerical and hardware experiments inspired by reconnaissance and surveillance missions.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128270098","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: 26

Identification of directional runway dynamics for an experimental UAV 实验无人机定向跑道动力学辨识

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564773

I. Drago, B. Maciel, E. M. Hemerly, F. A. Almeida

引用次数: 0

A vision and GPS-based real-time trajectory planning for MAV in unknown urban environments 未知城市环境下基于视觉和gps的MAV实时轨迹规划

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564806

G. Flores, Shuting Zhou, R. Lozano, P. Castillo

引用次数: 19