2013 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第2页

Visual odometry for autonomous outdoor flight of a quadrotor UAV 四旋翼无人机自主户外飞行的视觉里程计

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564748

H. Romero, S. Salazar, O. Santos, R. Lozano

引用次数: 7

Analysis and development of a reliable fixed wing UAV control system for mission profiles with restricted GPS availability GPS可用性受限任务剖面的可靠固定翼无人机控制系统分析与开发

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564738

M. Garcia, T. Muskardin, A. Viguria, M. Laiacker, A. Ollero, K. Kondak

引用次数: 3

UAS see-and-avoid strategy using a fuzzy logic controller optimized by Cross-Entropy in Scaling Factors and Membership Functions 基于比例因子和隶属函数交叉熵优化的模糊控制器的UAS见避策略

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564730

Changhong Fu, M. Olivares-Méndez, P. Campoy, Ramon Suarez-Fernandez

{"title":"UAS see-and-avoid strategy using a fuzzy logic controller optimized by Cross-Entropy in Scaling Factors and Membership Functions","authors":"Changhong Fu, M. Olivares-Méndez, P. Campoy, Ramon Suarez-Fernandez","doi":"10.1109/ICUAS.2013.6564730","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564730","url":null,"abstract":"This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand-avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"252 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":"133964826","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

Cooperative and Geometric Learning for path planning of UAVs 无人机路径规划的协同几何学习

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564675

Baochang Zhang, Zhili Mao, Wanquan Liu, Jianzhuang Liu, Zheng Zheng

引用次数: 8

Constrained formation protocols for networked multiagent systems 网络多智能体系统的约束编队协议

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564766

Gerardo De La Torre, T. Yucelen, Eric N. Johnson

引用次数: 2

Adaptive super twisting flight control-observer for a fixed wing UAV 固定翼无人机自适应超扭飞行控制观测器

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564788

H. Castañeda, Oscar S. Salas-Peña, Jesas de Leon Morales

引用次数: 18

Integral sliding mode backstepping control of quadrotors for robust position tracking 四旋翼机鲁棒位置跟踪的积分滑模反步控制

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564717

H. Ramirez-Rodriguez, Vicente Parra‐Vega, A. Sanchez, O. García

引用次数: 11

Experimental validation of a quaternion-based attitude estimation with direct input to a quadcopter control system 四轴飞行器控制系统直接输入四元数姿态估计的实验验证

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564723

Oyvind Magnussen, M. Ottestad, G. Hovland

{"title":"Experimental validation of a quaternion-based attitude estimation with direct input to a quadcopter control system","authors":"Oyvind Magnussen, M. Ottestad, G. Hovland","doi":"10.1109/ICUAS.2013.6564723","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564723","url":null,"abstract":"This paper presents a method to calculate the attitude quaternion of a quadcopter with few calculations. The quaternion calculation is based on accelerometers and gyroscopes from an Inertial Measurement Unit (IMU). The quaternion from the accelerometer is calculated as the shortest rotation arc from the gravity vector in the navigation frame. The quaternion from the gyroscope is calculated based on equations of the quaternion derivative. A complementary filter is combining the two quaternions with a componentwise comparison. The attitude estimation is calculated without any trigonometric functions. The quaternion is directly used as an input to the attitude controller. The attitude controller is a PD controller running at 400Hz. A model of the quadcopter in Matlab verified that the control system worked as intended. The estimator was verified with a Stewart platform, by mounting the quadcopter on top of it and comparing the angles from the Stewart platform with the angles from the filter. Finally the algorithms were implemented on a quadcopter controller board, and the attitude estimator were compared with the attitude estimation from a high-end IMU from MicroStrain. The complete control system was also tested on a 8-bit microcontroller running at 16 MHz. The relatively slow processor on the microcontroller was also able to do every calculations within 2.5ms.","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":"124524970","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: 18

Adaptive neural control design for hypersonic aircraft using time scale separation 高超声速飞行器时间尺度分离自适应神经控制设计

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564792

Daoxiang Gao, Shixing Wang, Dunmin Lu

引用次数: 1

Cooperative localization based on the azimuth angles among multiple UAVs 基于方位角的多无人机协同定位

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564765

Y. Qu, Jizhi Wu, Youmin Zhang

{"title":"Cooperative localization based on the azimuth angles among multiple UAVs","authors":"Y. Qu, Jizhi Wu, Youmin Zhang","doi":"10.1109/ICUAS.2013.6564765","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564765","url":null,"abstract":"In view of the potentials and benefits of using unmanned aerial vehicles (UAVs) in civil and surveillance applications, such as forest fire monitoring and fighting, earthquake and natural disasters monitoring and sensing etc., the cooperative flight of multiple UAVs has been paid more and more attention. Among the applications of multiple UAVs in cooperative flight, fault-tolerant cooperative localization against global positioning system (GPS) signal loss due to GPS receiver malfunction is one of key techniques for various practical applications. The current research on fault-tolerant cooperative localization of UAVs is mainly based on the distance between UAVs. However, cooperative localization based on the azimuth angles between UAVs has not been generally researched so far. This paper aims to solve the problem of fault-tolerant cooperative localization of UAVs by introducing the azimuth angles between UAVs. Firstly, the basic localization model is established and the formulas of localization in two and three dimensional coordinate systems are derived. Then the optimal reference planes are chosen with the principle of minimum horizontal dilution of positioning (HDOP). Kalman filter is applied to decrease the influence of observation errors on localization. Kalman filter and extended Kalman filter are designed against linear and non-linear systems, respectively. Finally, the simulation results indicate that the cooperative localization based on the azimuth angles achieves high localization accuracy.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"17 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":"130513499","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