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2022 IEEE International Conference on Unmanned Systems (ICUS)最新文献

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A Pursuit Strategy for Multi-Agent Pursuit-Evasion Game via Multi-Agent Deep Deterministic Policy Gradient Algorithm 基于多智能体深度确定性策略梯度算法的多智能体追逃博弈追捕策略
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986838
Jianfeng Ye, Qing Wang, B.-Y. Ma, Yongbao Wu, Lei Xue
{"title":"A Pursuit Strategy for Multi-Agent Pursuit-Evasion Game via Multi-Agent Deep Deterministic Policy Gradient Algorithm","authors":"Jianfeng Ye, Qing Wang, B.-Y. Ma, Yongbao Wu, Lei Xue","doi":"10.1109/ICUS55513.2022.9986838","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986838","url":null,"abstract":"This paper studies a classical pursuit-evasion problem. The pursuer attempts to capture the faster evader in a bounded area. The velocity of evader is 1.2 times as fast as the pursuers'. All of them have adaptive strategies. We use game theory to model the multi-agent pursuit-evasion game and prove that the game model has Nash equilibrium. Then, we modify the multi-agent deep deterministic policy gradient (MADDPG) algorithm for seeking the Nash equilibrium. The simulation examples are given to illustrate the effectiveness of the designed method.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131842664","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
Adaptive Active Disturbance Rejection Control for Multiple Hypersonic Vehicles Under Complex Environments 复杂环境下多高超声速飞行器自适应自抗扰控制
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986682
Jialong Zhang, Pu Zhang, Zhihua Chen, Chaowei Li, Jian Sun, Zhiyuan Dong
{"title":"Adaptive Active Disturbance Rejection Control for Multiple Hypersonic Vehicles Under Complex Environments","authors":"Jialong Zhang, Pu Zhang, Zhihua Chen, Chaowei Li, Jian Sun, Zhiyuan Dong","doi":"10.1109/ICUS55513.2022.9986682","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986682","url":null,"abstract":"For the fact that the hyper-vehicle is susceptible to external disturbances in the active segment, causing it to deviate from the preset trajectory and affect the control accuracy, an adaptive active disturbance rejection controller (ADRC) is designed based on the backstepping technology, so that the multiple hypersonic vehicles can still maintain a stable attitude flight under disturbance situations, and maintain a good tracking effect to satisfy the system performance requirements. First, establish a mathematical model of the hypersonic vehicle containing the perturbed signal. Second, based on the backstepping technology, the controller is designed under the anti-disturbance conditions of the vehicle, and the deviation correction control is carried out. Then, the stability of the designed controller is proved by Lyapunov stability theory, so that it can meet the requirements of track control and achieve precise control. Finally, the rationality of the designed controller is verified by simulation experiment.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114375460","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
Multi-robot Cooperative Object Attitude Measurement in Disturbance Environment 扰动环境下多机器人协同目标姿态测量
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986570
Yan Lyu, Wenbin Yu
{"title":"Multi-robot Cooperative Object Attitude Measurement in Disturbance Environment","authors":"Yan Lyu, Wenbin Yu","doi":"10.1109/ICUS55513.2022.9986570","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986570","url":null,"abstract":"Binocular vision is widely used in industry robot especially for precise measurement of gesture of objects. In order to solve the gesture measurement problem for the binocular vision base industry robot, this paper proposes a weighting based algorithm, which can optimize the gesture measurement precision by balancing the distance and axes between workpiece and the cameras. Simulations show that the proposed method has much better performance than the classic algorithm. The measurement precision can be improved more than 51%. Furthermore, the calibration error and feature extraction error is discussed.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114386939","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
Fault Feature Enhancement for AUV With Weak Thruster Fault Based on Improved Stochastic Resonance System 基于改进随机共振系统的AUV弱推力故障特征增强
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986760
Feng Yao, Chenguang Zhu, Mingjun Zhang
{"title":"Fault Feature Enhancement for AUV With Weak Thruster Fault Based on Improved Stochastic Resonance System","authors":"Feng Yao, Chenguang Zhu, Mingjun Zhang","doi":"10.1109/ICUS55513.2022.9986760","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986760","url":null,"abstract":"Fault features are weak and their strength is close to external disturbances for weak thruster fault in an AUV. There are great difficulties to distinguish fault features and external disturbances. This paper investigates a method to enhance fault features and suppress external disturbances. The typical stochastic resonance based fault feature enhancement method has not achieved satisfactory performance for weak thruster fault in an AUV, artificial fish swarm algorithm is applied to optimize the parameters of the stochastic resonance. In this process, a new optimization evaluation index is developed, and the structural parameters of the stochastic resonance system are optimized simultaneously with two evaluation indexes. Experiment data from Beaver-II AUV are used to demonstrate the performance of the fault feature enhancement method developed in this paper.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116945081","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
Multi-Node Collaborative Resource Allocation Method for Concurrent Tasks 并行任务的多节点协同资源分配方法
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986877
Mingjun Zhu, Yuanling Huang, Xiaoting Ji, Yanpeng Luo, Haibing Cheng, Tongxin Zhang
{"title":"Multi-Node Collaborative Resource Allocation Method for Concurrent Tasks","authors":"Mingjun Zhu, Yuanling Huang, Xiaoting Ji, Yanpeng Luo, Haibing Cheng, Tongxin Zhang","doi":"10.1109/ICUS55513.2022.9986877","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986877","url":null,"abstract":"Current unmanned aerial vehicle (UAV) and their mission system have been gradually developed in the direction of swarming together. However, the existing swarm coordination method usually realizes the parallel execution of multiple tasks through the assignment missions for various nodes, so the number of concurrent missions supported by the system is minimal, which is challenging to meet the requirements of electromagnetic monitoring tasks in the natural electromagnetic environment. Therefore, this paper introduces the idea of time-division multiplexing and proposes a time resource allocation algorithm for concurrent tasks oriented to multi-node synchronous cooperation. Based on the fixed-priority scheduling strategy, the algorithm can reasonably schedule sensor resources of each UAV node according to priority constraints, which improves the concurrent task processing capability of the UAV swarm. Through the fast schedulability test based on blocking interval, the task's parameters can be adjusted quickly to ensure the mission's correct execution and improve the UAV swarm's dynamic adaptability. Finally, simulation verifies the proposed algorithm's effectiveness and feasibility.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117256986","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
Identification for Systems with Binary Data against Piecewise Constant DoS Attacks: A Game Learning Approach 二元数据系统的分段恒DoS攻击识别:一种博弈学习方法
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986668
Chongyuan Hu, Ruizhe Jia, Yanling Zhang, Jin Guo
{"title":"Identification for Systems with Binary Data against Piecewise Constant DoS Attacks: A Game Learning Approach","authors":"Chongyuan Hu, Ruizhe Jia, Yanling Zhang, Jin Guo","doi":"10.1109/ICUS55513.2022.9986668","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986668","url":null,"abstract":"This paper proposes a game learning approach for system identification with binary data against piecewise constant DoS (Denial-of-Service) attacks. First, the game model of attack and defense is established, and the strategy sets and payoff functions of the attacker and the defender are given. Then, aiming at the piecewise constant DoS attack, a game learning rule is designed for the defender. Based on the rule, an attack strategy estimation algorithm and a system parameter estimation algorithm are constructed, and their performances are analyzed in a given stage. Finally, the rationality of the theoretical results is verified by numerical simulations.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"72 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116398088","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 Inert and Efficient Fusion Replanning Method for UAV Fast Autonomous Flight 无人机快速自主飞行的惰性高效融合重规划方法
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986606
Li Yan, Yinghao Zhao, Hong Xie, Jicheng Dai, Yaxi Han, Shan Su
{"title":"An Inert and Efficient Fusion Replanning Method for UAV Fast Autonomous Flight","authors":"Li Yan, Yinghao Zhao, Hong Xie, Jicheng Dai, Yaxi Han, Shan Su","doi":"10.1109/ICUS55513.2022.9986606","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986606","url":null,"abstract":"Path planning is one of the key components to achieve fast autonomous flight of unmanned aerial vehicle (UAV) in unknown environments. However, it remains a challenge to generate a high-quality trajectory with less time cost and less replanning number. In this paper, an inert and efficient fusion replanning method is proposed. At first, we design a fast and robust guiding path generation method. Based on the guiding path, we build the safe flight corridor (SFC) and generate the high-quality initial flight trajectory by using the hard-constrained method. And then, to quickly avoid newly discovered obstacles, the gradient-based method is used to generate a local new collision-free trajectory in real-time based on the initial flight trajectory. Finally, we design an inert replanning strategy to reduce the number of replanning on the premise of ensureing the trajectory quality. Benchmark comparisions and real-world experiments are conducted to verify the efficiency. Experimental results show that the proposed method achieved better performance compared with other methods.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122134295","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
Evaluation of Multiple GNSS Navigation Performance in Lunar Transfer Orbit and Circumlunar Orbit 月球转移轨道和环月轨道多重GNSS导航性能评价
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986533
Zijian Lin, Tao Shi, X. Zhuang, Yuxin He
{"title":"Evaluation of Multiple GNSS Navigation Performance in Lunar Transfer Orbit and Circumlunar Orbit","authors":"Zijian Lin, Tao Shi, X. Zhuang, Yuxin He","doi":"10.1109/ICUS55513.2022.9986533","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986533","url":null,"abstract":"Positioning of high-orbit spacecraft using the Global Navigation Satellite System (GNSS) is an important expansion application of GNSS. With the introduction of GNSS such as Beidou-3 (BDS-3), the number of navigation satellites has increased dramatically, which can significantly increase the GNSS positioning performance of high-orbit spacecraft. In this paper, multi-GNSS positioning performance simulation and evaluation are carried out for high-orbit spacecraft in lunar exploration missions such as Lunar Transfer Orbit (LTO) and circumlunar orbit. The simulation results show that BDS-3 can effectively increase the number of visible satellites during the LTO and circumlunar orbit. With the increase of altitude, the number of visible satellites is greatly reduced due to the limitation of received power, but there are still a few visible satellites in LTO and circumlunar orbit. On the premise of considering the signal range of navigation satellites and removing the receiver power limit, the use of BDS-3 can improve the distribution of Position Dilution of Precision (PDOP) values and positioning errors during the LTO and circumlunar orbit, which provides feasibility for autonomous navigation of high-orbit spacecraft in lunar exploration missions.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126000654","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 Novel Relocating Recognition Algorithm in Overlapping Region for Multi-UAVs Cluster 一种新的多无人机集群重叠区域定位识别算法
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986862
Chen Li, Xuelei Qi, Juntao Zhao, Xuanhong Liao, Zitian Lin, Hongjun Ma, Xinkai Liang
{"title":"A Novel Relocating Recognition Algorithm in Overlapping Region for Multi-UAVs Cluster","authors":"Chen Li, Xuelei Qi, Juntao Zhao, Xuanhong Liao, Zitian Lin, Hongjun Ma, Xinkai Liang","doi":"10.1109/ICUS55513.2022.9986862","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986862","url":null,"abstract":"How improve the mapping efficiency and location accuracy of the multi-UAV cluster based on the distributed SLAM technology is a significant problem in overlapping regions. Therefore, this paper mainly proposes a novel relocation recognition algorithm for the multi-UAV cluster. First, the autonomous localization algorithm based on visual-inertial fusion is proposed. Then, the algorithm for vocabulary updating and relocating is designed. Finally, practical testing is implemented to verify and improve the efficiency of exploration ability and the accuracy of the autonomous navigation and positioning in the complex overlapping regions.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128413028","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
Adaptive Formation Switching Control of Multi-AUVs for Target Tracking with State Estimation 基于状态估计的多auv自适应编队切换控制
2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986861
Hua Zhu, Xinyu Ye, Haibo Lu, Yongqi Li, Zhang He, Shengquan Li
{"title":"Adaptive Formation Switching Control of Multi-AUVs for Target Tracking with State Estimation","authors":"Hua Zhu, Xinyu Ye, Haibo Lu, Yongqi Li, Zhang He, Shengquan Li","doi":"10.1109/ICUS55513.2022.9986861","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986861","url":null,"abstract":"This paper aims to study dynamic behavior of multiple autonomous underwater vehicles (AUVs) in formation for target tracking. During the tracking task using a team of AUVs, some of the trackers may suffer a sudden system failure due to the communication or power issues in the complex and harsh underwater environment. Therefore, an adaptive formation switching method based on model predictive control (MPC) strategy is used to motion control of multi-AUVs, when some of the trackers unexpectedly dropped out of the team. The control scheme consists of state estimation module and formation switching control module. Firstly, the states of maneuvering target are estimated using EKF based on constant turn rate and velocity (CRTV) motion model. Secondly, a formation switching control strategy is proposed using the designed parameterized virtual reference points. A nonlinear model predictive controller is proposed to achieve the dynamic formation. Simulation results showed high formation tracking accuracy and feasibility of adaptive formation switching control strategy under the reasonable assumption of underwater communication conditions. Moreover, the proposed control scheme would enable the multi-AUVs to continuously track the moving target by adaptively switching the formation when one of the trackers encounters sudden failure and the number of tracking team members varies.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127048193","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
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