发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
A static feedback stabilizer for the longitudinal dynamics of a small scale helicopter including the rotor dynamics with stabilizer bar 小型直升机纵向动力学的静态反馈稳定器，包括带稳定杆的旋翼动力学
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564743
J. G. Benítez-Morales, H. Rodríguez-Cortés, R. Castro-Linares
{"title":"A static feedback stabilizer for the longitudinal dynamics of a small scale helicopter including the rotor dynamics with stabilizer bar","authors":"J. G. Benítez-Morales, H. Rodríguez-Cortés, R. Castro-Linares","doi":"10.1109/ICUAS.2013.6564743","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564743","url":null,"abstract":"In this paper we propose a solution to the trajectory tracking problem for a small scale helicopters longitudinal dynamics. The controller results from a control design technique that constructs static feedback stabilizers for dynamically feedback linearizable nonlinear systems. The flatness characteristics of the helicopter's longitudinal dynamics are used to construct the desired trajectory showing that the main rotor thrust is never equal zero. Numerical simulations show the performance of the controller even in the case that the main rotor and stabilizer bar dynamics are included.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"18 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":"115345892","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
Controller design for small air vehicles — An overview and comparison 小型飞行器控制器设计综述与比较
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564741
Yinan Cui, T. Inanc
{"title":"Controller design for small air vehicles — An overview and comparison","authors":"Yinan Cui, T. Inanc","doi":"10.1109/ICUAS.2013.6564741","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564741","url":null,"abstract":"Small unmanned air vehicles (SUAVs) such as quadrotors are mainly used in several research labs including our Multiple Air Robotics Indoor Testbed (MARIT) [1]. However, an overview of these common control techniques have been missing. This paper presents an overviews of designing and evaluating commonly used controllers for SUAVs. To design the controllers, the quadrotor's physical parameters are measured and mathematical dynamics models are established. Simulators are constructed based on the dynamics models to validate the performances of the controllers. Several evaluation criteria are used to compare the performances and the results are presented.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"64 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":"114295450","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
Physical input modelling and identification for a helicopter UAV 直升机无人机的物理输入建模和识别
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564774
Bryan Godbolt, Alan Francis Lynch
{"title":"Physical input modelling and identification for a helicopter UAV","authors":"Bryan Godbolt, Alan Francis Lynch","doi":"10.1109/ICUAS.2013.6564774","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564774","url":null,"abstract":"Approaches to helicopter UAV control often use the main and tail rotor thrusts, and the main rotor flapping angles as inputs. However, servomotors control the helicopter's four physical inputs which are the main rotor cyclic and collective pitch, and the tail rotor collective pitch. Helicopter models which treat the physical input are generally intractable for model-based control. We propose and identify a physical input model which is algebraically simple and therefore suitable for use in control design. The proposed model includes the vehicle's velocity to improve its accuracy.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"6 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":"115774347","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
Optimal UAV path planning in a 3D threat environment by using parallel evolutionary algorithms 基于并行进化算法的三维威胁环境下无人机路径优化规划
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564703
N. Özalp, O. K. Sahingoz
{"title":"Optimal UAV path planning in a 3D threat environment by using parallel evolutionary algorithms","authors":"N. Özalp, O. K. Sahingoz","doi":"10.1109/ICUAS.2013.6564703","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564703","url":null,"abstract":"In recent years, unmanned aerial vehicles-UAVs represent one of the most demanding technologies in aeronautics, and they have tremendous appeal because of their operability with considerable autonomy (by using minimal human intervention). UAVs have to operate in complex environments with different constraints such as obstacles, threatening zones, UAV kinematics, etc. In this technology, path planning plays a crucial role for high autonomy operations, although absolute autonomy is still an open question. In this paper, we tried to discuss, how a feasible path planning for a UAV can be done in the 3-dimensional environment by avoiding threats such as a radar network which contains several radars with different detection ranges. The proposed methodology is implemented with using genetic algorithms, and a parallel approach is used for reducing path planning calculations. The environment is represented as 3 dimensional structure by using World Wind, which is an open-source and accurate 3D environment browser. The developed methodology can provide fast and safe routes for autonomous single UAVs or operator-assisted flight.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"115 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":"126005372","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: 37
Optimal tracking control system design for a ring-wing type UAV 环翼型无人机最优跟踪控制系统设计
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564716
Junho Jeong, Seungkeun Kim, J. Suk
{"title":"Optimal tracking control system design for a ring-wing type UAV","authors":"Junho Jeong, Seungkeun Kim, J. Suk","doi":"10.1109/ICUAS.2013.6564716","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564716","url":null,"abstract":"This paper proposes an optimal tracking control law for a ring-wing type unmanned aerial vehicle (RWUAV) under full flight envelope including hover, transition and cruise modes. A system matrix is augmented with a tracking error term, and then state feedback gain is calculated by using a single Riccati equation. In order to reduce error, an integral term is augmented in the state vector. The performance of proposed controller is verified through three-dimensional waypoint simulation.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 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":"127470152","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
Persistent visitation under revisit constraints 在重访约束下的持续访问
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564781
Jonathan Las Fargeas, Baro Hyun, P. Kabamba, A. Girard
{"title":"Persistent visitation under revisit constraints","authors":"Jonathan Las Fargeas, Baro Hyun, P. Kabamba, A. Girard","doi":"10.1109/ICUAS.2013.6564781","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564781","url":null,"abstract":"This work is motivated by persistent Intelligence, Surveillance, and Reconnaissance (ISR) missions, where an Unmanned Aerial Vehicle (UAV) is to perpetually fly over a number of unidentified objects within a given search area and classify the objects based on information collected. The aspects of the problem pertaining to the collection of information and classification are abstracted into a revisit rate for each object of interest which, if respected, yields proper classification. The problem of finding paths that meet these revisit rate requirements is treated and periodicity properties of solutions to the path planning problem are derived. Furthermore, heuristics to solve this problem are presented and, through numerical simulations, the effectiveness of the method is illustrated.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1864 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":"129918503","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: 33
A mono-camera and scanning laser range finder based UAV indoor navigation system 一种基于单摄像头和扫描激光测距仪的无人机室内导航系统
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564750
Feihong Wang, Jinqiang Cui, S. K. Phang, Ben M. Chen, Tong-heng Lee
{"title":"A mono-camera and scanning laser range finder based UAV indoor navigation system","authors":"Feihong Wang, Jinqiang Cui, S. K. Phang, Ben M. Chen, Tong-heng Lee","doi":"10.1109/ICUAS.2013.6564750","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564750","url":null,"abstract":"This paper presents a comprehensive control and navigation scheme for an indoor UAV system. In addition to the inertial measurement unit commonly used onboard of most UAVs, the testbed quadrotor platform is also equipped with a mono-camera looking downwards and a laser range finder capable of scanning a level plane. With this setup, the UAV is able to estimate its own velocity and position robustly, while flying along the internal walls of a room without collision. The whole system does not require any remote sensory information or off-line computational power. All algorithms are self-sustained and running onboard in real time. Complete flight tests have been carried out to verify the solution.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"20 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":"134211757","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: 46
Fault tolerant formation flight control using different adaptation techniques 采用不同自适应技术的容错编队飞行控制
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564800
D. Tancredi, Yu Gu, Haiyang Chao
{"title":"Fault tolerant formation flight control using different adaptation techniques","authors":"D. Tancredi, Yu Gu, Haiyang Chao","doi":"10.1109/ICUAS.2013.6564800","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564800","url":null,"abstract":"Different solutions to the problem of aerodynamic surface failure during formation flight are presented. Adaptive control laws are applied in order to compensate for surface blockages. Two different approaches are described in detail, Model Reference Adaptive Control and L1 Adaptive Control, in order to improve the fault-tolerance of a baseline controller designed with static gains. Simulation results are included, showing a substantial improvement of fault-tolerance performance when adaptive augmentation is used.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"24 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":"128689281","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: 6
Lyapunov based model reference adaptive control for aerial manipulation 基于Lyapunov的航空操纵模型参考自适应控制
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564783
M. Orsag, C. Korpela, S. Bogdan, P. Oh
{"title":"Lyapunov based model reference adaptive control for aerial manipulation","authors":"M. Orsag, C. Korpela, S. Bogdan, P. Oh","doi":"10.1109/ICUAS.2013.6564783","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564783","url":null,"abstract":"This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators using a lyapunov based model reference adaptive control. Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects. Using the Lyapunov stability theory, the controller is proven to be stable. The simulation results showed how the MRAC is capable of stabilizing the oscillations produced from the unstable PI-D attitude control loop. Finally a high level control system based on a switching automaton is proposed in order to ensure the safety of the aerial manipulation missions.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"43 4 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":"133983236","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: 41
On-board dual-stereo-vision for autonomous quadrotor navigation 用于四旋翼飞行器自主导航的机载双立体视觉系统
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564706
Konstantin Schauwecker, A. Zell
{"title":"On-board dual-stereo-vision for autonomous quadrotor navigation","authors":"Konstantin Schauwecker, A. Zell","doi":"10.1109/ICUAS.2013.6564706","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564706","url":null,"abstract":"We present a quadrotor Micro Aerial Vehicle (MAV) capable of autonomous indoor navigation. The MAV is equipped with four cameras arranged in two stereo configurations. One camera pair is facing forward and serves as input for a reduced stereo SLAM system. The other camera pair is facing downwards and is used for ground plane detection and tracking. All processing, including sparse stereo matching, is run on-board in real-time and at high processing rates. We demonstrate the capabilities of this MAV design in several flight experiments. Our MAV is able to recover from pose estimation errors and can cope with processing failures for one camera pair. We show that by using two camera pairs instead of one, we are able to significantly increase navigation accuracy and robustness.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 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":"130547560","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: 27
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信