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2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)最新文献

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Three-dimensional path planning of UAV based on an improved A* algorithm* 基于改进A*算法的无人机三维路径规划
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828772
Tianzhu Ren, Zhou Rui, Xia Jie, Zhuoning Dong
{"title":"Three-dimensional path planning of UAV based on an improved A* algorithm*","authors":"Tianzhu Ren, Zhou Rui, Xia Jie, Zhuoning Dong","doi":"10.1109/CGNCC.2016.7828772","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828772","url":null,"abstract":"The current two-dimension path planning technologies are adequate for semi-autonomous Unmanned Aerial Vehicles (UAV) that operate in a relatively structured environment. However, for UAVs in a complicated uncertain environment the present techniques are inadequate. A three-dimensional (3D) path planning algorithm of UAV which based on improved A* algorithm is proposed in this paper in order to solve problem of path planning for UAV in complex environment. First, we attempt to extend the search space of traditional A* algorithm to three-dimension. Then we make the heuristic algorithm suitable for UAV with various constraints. Finally, in simulation experiments, the effectiveness of improved A* algorithm is verified concerning the accurateness, safety and the adaptability.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114597997","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: 15
Multiple spacecraft formation reconfiguration planning with nonconvex collision avoidance constraints 非凸避碰约束下的多航天器编队重构规划
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828862
Ding Zhou, Yuting Hu, Shunli Li
{"title":"Multiple spacecraft formation reconfiguration planning with nonconvex collision avoidance constraints","authors":"Ding Zhou, Yuting Hu, Shunli Li","doi":"10.1109/CGNCC.2016.7828862","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828862","url":null,"abstract":"A convexification method originating from second order cone programming is applied to multiple satellites formation reconfiguration problems with concave collision avoidance constraints. Geometric relative orbit elements are introduced to straightforward depict formation configurations. Algorithm consists of external convexification iterations and the Gauss pseudospectral method is presented for coping with nonconvex transfer trajectories planning. Numerical examples are implemented for validating the proposed approach, and contrast simulations separately with spherical and rectangular approximations of concave inequality constraints are carried out, results indicate a manifestly improvement in energy optimization with the algorithm presented here.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122026055","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
The guidance control system design of a miniature guided ammunition 一种微型制导弹药的制导控制系统设计
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828995
Xiao-qian An, Jun-fang Fan
{"title":"The guidance control system design of a miniature guided ammunition","authors":"Xiao-qian An, Jun-fang Fan","doi":"10.1109/CGNCC.2016.7828995","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828995","url":null,"abstract":"This paper is concentrated on a canard-configured miniature guided ammunition and the pneumatic fluid mechanics simulation calculation results show that the ammunition has good aerodynamic characteristics. At the same time, based on the longitudinal linear kinematic equation of the ammunition, the transfer function which is from canard deflection angle to pitch attitude angle and normal acceleration is established. This paper designs a two-loop acceleration autopilot, of which the step response characteristics can not only shorten the adjusting time effectively but also better solve the contradiction between rise time and overshoot with a faster convergence speed. Thus the two-loop acceleration autopilot can realize fast tracking in the guidance phase. This research will perform as theoretical basis for the guidance control system integration design of canard-configured guided ammunition and the analysis of its stability in the future.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"252 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116878676","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
Obstacle avoidance algorithm for UAVs in unknown environment based on distributional perception and decision making 基于分布感知和决策的未知环境下无人机避障算法
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828936
Zhuofan Xu, Ruixuan Wei, Qirui Zhang, Kai Zhou, Renke He
{"title":"Obstacle avoidance algorithm for UAVs in unknown environment based on distributional perception and decision making","authors":"Zhuofan Xu, Ruixuan Wei, Qirui Zhang, Kai Zhou, Renke He","doi":"10.1109/CGNCC.2016.7828936","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828936","url":null,"abstract":"Guaranteeing the flight with safety and efficiency for UAVs in unknown environment is one of the most important problems for researchers. In this paper, a novel obstacle avoidance algorithm for UAVs in unknown environment based on distributional perception and decision making is proposed, where the obstacle avoidance problem is divided into two parts: distributional decision making and global decision making. The global optimal obstacle avoidance path is get with mission completed safely at last. The simulation shows the algorithm proposed is capable of solving the obstacle avoidance problem for UAVs in the unknown environment and is valuable to improve the perception and decision making ability of UAVs.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128295831","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
Pattern-based NN control of a class of nonlinear systems 一类非线性系统的模式神经网络控制
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828972
Feifei Yang, Wenjie Si, Qian Wang
{"title":"Pattern-based NN control of a class of nonlinear systems","authors":"Feifei Yang, Wenjie Si, Qian Wang","doi":"10.1109/CGNCC.2016.7828972","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828972","url":null,"abstract":"This paper studies the pattern-based neural network (NN) control approach for a class of uncertain nonlinear systems. Firstly, in the identification phase, adaptive NN controllers are designed to achieve closed-loop stability and tracking performance of nonlinear systems for different control situations, and the closed-loop control system dynamics are identified via deterministic learning. The identified dynamics are stored in constant radial basis function (RBF) NNs, and a set of pattern-based constant NN controllers are constructed by using the obtained constant RBF networks. Secondly, still in the phase of identification, when the plant is operated under abnormal conditions but controlled by the normal constant NN controller, the underlying system dynamics are identified via deterministic learning. Thirdly, in the phase of recognition, a bank of estimators is constructed for all the abnormal conditions. When one identified control situation recurs, by using the constructed estimators, the recurred control situation will be rapidly recognized. Finally, in the phase of pattern-based control, the corresponding pattern-based constant NN controller is selected, which guarantees the improved control performance while preserving stability. A simulation example is included to demonstrate the effectiveness of the approach. The results presented in this paper show that pattern-based control may provide a new framework for fast decision and control in dynamic environments.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128771156","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
The attitude decoupling control of the flying wing UAV (IEEE CGNCC) 飞翼无人机姿态解耦控制(IEEE CGNCC)
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828811
Jiguang Li, Xin Chen, Zhen Li
{"title":"The attitude decoupling control of the flying wing UAV (IEEE CGNCC)","authors":"Jiguang Li, Xin Chen, Zhen Li","doi":"10.1109/CGNCC.2016.7828811","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828811","url":null,"abstract":"Because of the special aerodynamic layout of the flying wing UAV, a strong coupling effect will be generated among its respective channel. However, this thesis, different from the traditional methods, applies the differential geometry method to the decoupling control design of the UAV. Besides, because the difficulty of the differential geometric linearity method's linear condition cannot be solved yet, nominal output function method is put forward in the thesis. And the results of the emulation show that the attitude decoupling control of the flying wing UAV, based on the differential geometry method, can meet the requirements of the program.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128504214","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
Predicting MEMS gyroscope's random drifts using LSSVM optimized by modified PSO 基于改进粒子群优化的LSSVM预测MEMS陀螺仪随机漂移
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828773
Tianchuan Sun, Jieyu Liu
{"title":"Predicting MEMS gyroscope's random drifts using LSSVM optimized by modified PSO","authors":"Tianchuan Sun, Jieyu Liu","doi":"10.1109/CGNCC.2016.7828773","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828773","url":null,"abstract":"A predictive modeling method for random drift of MEMS gyroscope is proposed, which is based on the least squares support vector machine optimized by modified particle swarm algorithm. We built a forecasting model of MEMS gyroscope's random drifts with least squares support vector machine, then used the modified particle swarm algorithm to optimize the model. The optimized LSSVM model was then adopted for prediction of MEMS gyroscope's random drifts. The modeling method solves SVM's disadvantage of slow training speed and requesting more resources. In addition, the modified PSO is more suitable for selecting global or local searching capability. The experimental result demonstrates the modeling method can effectively predict MEMS gyroscope's random drifts, and is more appropriate than LSSVM optimized by PSO.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129267102","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
Particle filter-based algorithm for multiple maneuvering targets tracking 基于粒子滤波的多机动目标跟踪算法
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7829079
Zhang Mao-lin, Wu Yun-jie
{"title":"Particle filter-based algorithm for multiple maneuvering targets tracking","authors":"Zhang Mao-lin, Wu Yun-jie","doi":"10.1109/CGNCC.2016.7829079","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829079","url":null,"abstract":"There is a tracking problem that multiple targets waiting to be tracked accurately. This article aims at solving this problem. In the first part, this paper supposes particle filter to solve nonlinear and non Gauss. In the second part,the article supposes multiple model filtering to track maneuvering targets. In the third part,this article supposes a multiple model CPHD filtering who is composed of multiple model filtering and PHD algorithm to solve this problem. At the end, a simulation experiment is made to prove the feasibility of the algorithm.1","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124555531","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
Finite time attitude control of double tethered satellites system in deep space 深空双系绳卫星系统的有限时间姿态控制
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828980
Chuanjiang Li, Junyu Yao, Bo Li, G. Ma
{"title":"Finite time attitude control of double tethered satellites system in deep space","authors":"Chuanjiang Li, Junyu Yao, Bo Li, G. Ma","doi":"10.1109/CGNCC.2016.7828980","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828980","url":null,"abstract":"A finite time attitude control law incorporating a disturbance observer is proposed for double tethered satellites system (2-TSS) with a variable length tether in deep space. For each single tethered satellite, a disturbance observer combining with the theory of Extended State Observer (ESO) is firstly utilized to precisely estimate the synthesis of external bounded disturbances and parameter uncertainties. The stability of the observer is analyzed so that the observation errors are globally uniformly ultimately bounded and finally converge to a small neighborhood. Then to realize attitude control with high precision and fast response in finite time, a finite time attitude control law is proposed through designing a fast nonsingular sliding mode surface with a specific switching function. The Lyapunov stability analysis is performed to show that the system states are finite time stable and that the sliding mode surface can reach a small region of origin. Finally, numerical simulations demonstrate the effectiveness of proposed control schemes with disturbance observer.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124665076","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
Acceleration-based multiple-loop control of unmanned quadrotors with disturbances 具有扰动的无人四旋翼飞行器加速度多环控制
2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC) Pub Date : 2016-08-01 DOI: 10.1109/CGNCC.2016.7828976
Y. He, H. Zhou, H. Yue, G. T. Qiu, Z. Z. Lin
{"title":"Acceleration-based multiple-loop control of unmanned quadrotors with disturbances","authors":"Y. He, H. Zhou, H. Yue, G. T. Qiu, Z. Z. Lin","doi":"10.1109/CGNCC.2016.7828976","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828976","url":null,"abstract":"Over the last decade, considerable interest has been shown from government, academia, military and business circles to the design of unmanned quadrotor autonomous control. This paper uses a multiple-loop control strategy with disturbance compensation by the acceleration measurement for an unmanned quadrotor. The outer-loop control uses dynamic surface control method with disturbance compensation by use of acceleration measurement. The middle-loop uses P control and the inner-loop uses PID control. This structure does not need know the quadrotor parameters and can be applied into practice easily. The simulation and experiment results also show that the good performance of position tracking and extern disturbance (wind gust) rejection.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130301867","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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