2019 IEEE International Conference on Unmanned Systems (ICUS)最新文献

Hover Control of New type ducted aircraft 新型导管飞行器的悬停控制

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995931

Peijun Liu, Hongbin Deng, Shikun Wang, Kewei Li, Yiran Wei

引用次数: 0

Detecting Grasping Positions and Postures in 3D Point Clouds by Geometric Constraints 利用几何约束检测三维点云中的抓取位置和姿态

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996056

Shiming Zhao, Yingqiu Xu, Yingzi Tan

引用次数: 1

Observability Enhancement of the Target Tracking Model Based on Infrared Semi-strapdown Seeker 基于红外半捷联导引头的目标跟踪模型的可观测性增强

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996025

Peng Siting, Zhao Qian, Ma Yichao, Xu Cheng

{"title":"Observability Enhancement of the Target Tracking Model Based on Infrared Semi-strapdown Seeker","authors":"Peng Siting, Zhao Qian, Ma Yichao, Xu Cheng","doi":"10.1109/ICUS48101.2019.8996025","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996025","url":null,"abstract":"As an important device for target interception, The seeker is used to search, recognize and track the target autonomously. Infrared semi-strapdown seekers are widely used in applications due to their low cost and small size. However, one non-negligible disadvantage of semi-strapdown infrared seekers is that the observability of target tracking model is poor, especially for the interception of high-speed maneuvering weapons. In this paper, the target tracking model ( i.e., the filtering estimation model) based on the infrared simi-strapdown seeker is established. The observability of the target tracking model is analyzed and the evaluation method of the observability is studied. Simulation results show that the observability of the filtering estimation model can be improved by increasing the relative motion between missile and target which results in faster changes of the line-of-sight (LOS) angle. According to the results on the observability analysis, the desired trajectory is obtained through the design of proper guidance law. Nonlinear filtering algorithm is also introduced for the trajectory design. Simulation experiments are conducted for the integrated filtering and guidance, and simulation results illustrate the effectiveness of the proposed observability enhancement method.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126609993","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

An Intelligent Unmanned Control Method for Redunant Moving Agent 一种冗余移动体的智能无人控制方法

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995957

Ying Zhang, Leiyan Tao, Minfeng Wei, Jian Cao, Siwen Xu, Xing Zhang

引用次数: 5

Cross-cycle iterative unmanned aerial vehicle reentry guidance based on reinforcement learning 基于强化学习的跨周期迭代无人机再入制导

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996086

Yang Cheng, Z. Shui, Cheng Xu, Tianyu Feng, Yiyang Jiang

{"title":"Cross-cycle iterative unmanned aerial vehicle reentry guidance based on reinforcement learning","authors":"Yang Cheng, Z. Shui, Cheng Xu, Tianyu Feng, Yiyang Jiang","doi":"10.1109/ICUS48101.2019.8996086","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996086","url":null,"abstract":"The traditional predictive correction algorithm requires a large number of iterative calculations for the predicted trajectory, which greatly occupies a large amount of computing resources, so that the real-time solution of the guidance command can not be guaranteed, and the guidance accuracy will have a large impact. And the prediction correction guidance requires the algorithm to have the ability of selfadaptation and intelligent learning. Therefore, this paper proposes a cross-cycle iterative hypersonic UAV predictive correction guidance method based on reinforcement learning. The parametric control variable (CVP) method is used to construct the parametric model of the guidance command. The actor-critic-based reinforcement learning method is used to solve the guidance command in real time, and the guidance information is effectively transmitted in the adjacent guidance solution cycle. The guidance error converges to within the allowable accuracy range during the cross-cycle iteration. Monte Carlo simulation shows that the proposed method has good adaptability to initial conditions and flight parameter uncertainty, and can guarantee the real-time performance of the guidance command while achieving high-precision guidance.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114136576","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 Longitudinal Motion Control Method for Unmanned Truck Based on Acceleration Replanning 基于加速度重规划的无人驾驶卡车纵向运动控制方法

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996023

Hao Dong, Shaohang Xu, Da Li, Yuqi Guo, Junqiang Xi

{"title":"A Longitudinal Motion Control Method for Unmanned Truck Based on Acceleration Replanning","authors":"Hao Dong, Shaohang Xu, Da Li, Yuqi Guo, Junqiang Xi","doi":"10.1109/ICUS48101.2019.8996023","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996023","url":null,"abstract":"For unmanned ground vehicles, the longitudinal motion control based on desired acceleration, provided by the upper planning module, has static errors. And the commonly used Proportion-Integration (PI) controller tracks the desired speed directly, prone to overshoot and oscillation. In order to overcome these problems, a method based on acceleration replanning is proposed in this paper, considering the dynamic, steady-state and real-time requirements. Simplified nonlinear longitudinal dynamics models are established. Then, 4 parts of the controller are designed based on the models: switching logic based on coast-down; acceleration replanning module by means of backstepping and feedback linearization; throttle adaptive controller and brake controller. Errors of velocity and acceleration can converge to zero quickly meanwhile without overshoot and oscillation, theoretically. Finally, the MATLAB/ Simulink TruckSim co-simulation shows that the designed controller performs better than the PI controller, with speed’s average error reducing by 52%. Besides, the designed controller controls the pedals more smoothly, for it makes full use of the powertrain.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122041250","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 Landmark Detection and Recognition Algorithm for UAV Autonomous Pitching 无人机自主俯仰的地标检测与识别算法

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996073

Xiaoxiao Xie, Yan Ding, Xinliang Huang

{"title":"A Landmark Detection and Recognition Algorithm for UAV Autonomous Pitching","authors":"Xiaoxiao Xie, Yan Ding, Xinliang Huang","doi":"10.1109/ICUS48101.2019.8996073","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996073","url":null,"abstract":"Landmark detection and recognition algorithm is a very important technology for vision-based Unmanned Aerial Vehicles (UAVs) autonomous pitching. The deformation and rotation of landmarks and the background distraction will be the challenges for detection and recognition. Based on Support Vector Machine (SVM) and the appearance features of landmarks, a landmark detection and recognition algorithm is proposed in this paper. The algorithm presents a landmark detection scheme based on ellipse detection which forms ellipses by optimized arcs and estimates parameters in a decomposed space using Hough transform. To get better edge features, a segmentation is designed to reduce the background noise. Due to the lack of direction information of landmarks in detection procedure, a SVM classifier with a multi-direction voting mechanism is presented for recognition. We expand the training sample set through the affine transformation and make a vote on classification results from multiple directions to achieve accurate landmark recognition. Experimental results show that our landmark detection and recognition algorithm is effective on the UAV platform and the adaptability to the environment is strong.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129875901","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

Bottom-up Estimation of Geometric Layout for Indoor Images 室内图像几何布局的自底向上估计

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996010

Yuxiao Wang, Yaochen Li, Ming Zeng, Zikun Dong, Jian Yuan, Ziwei Wang

引用次数: 1

Time-Cooperative Guidance Law for Multiple UAVs with Angle Constraints 具有角度约束的多无人机时间协同制导律

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995997

Z. Yi, Fang Guowei, Yang Xiu-xia, Cao Weiyi, Yan Xuan

引用次数: 0

Current Status of insect-inspired Flapping Wing Micro Air Vehicles 昆虫型扑翼微型飞行器的研究现状

2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996060

Jiaxin Zhao, Weiping Zhang, Chenyang Wang, Zou Yang, Jiahao Wang

引用次数: 1