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AIAA Aviation Forum and Exposition

作者： Ward, Michael Wachlin, Jacob Leon, Benjamin Costello, Mark Bergeron, Keith Noetscher, Gregory Earthly Dynam LLC Atlanta GA 30309 USA US Army Combat Capabil Dev Command Soldier Ctr Natick MA 01760 USA

ISBN: (数字)9781624105890

ISBN: (纸本)9781624105890

Human accuracy jumpers can achieve centimeter-level landing accuracy with similar parachutes in similar conditions to autonomous guided airdrop systems. Compared to a typical guided airdrop system, human jumpers are highly adaptable, capable of incredibly precise maneuvers, and able to combine their extensive experience with a wealth of feedback mechanisms to achieve their impressive results. The current work seeks to learn from these incredible athletes and incorporate features of their guidance, navigation, and control logic into the algorithms utilized by unmanned airdrop systems. The current work focuses on two key items, 1) accurate steering controller using feedback from sensors on the canopy, and 2) guidance in challenging wind conditions for low-performance parachutes. Results from both simulation and flight test are presented.

关键词： Flight Testing Inertial Sensor Trailing Edges Parafoil Bleed Air Flight Software Proportional Integral Derivative Airspeed navigation algorithm Path Planning

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navigation algorithm for Floor-Mopping Robot

Navigation Algorithm for Floor-Mopping Robot

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International Conference on Advances in Computational Modeling and Simulation (ACMS)

作者： Kongsin, Wiruch Kirita, Satapon Rajamangala Univ Technol Lanna Dept Elect Engn Fac Engn Muang 6300 Tak Thailand

This paper presents the navigation for a floor-mopping robot by new navigation algorithm. This algorithm is used for a robot that design of cleaning with rags. Which it makes a floor-mopping robot improved efficient. We designed the navigation algorithm using the behaviour-based structure to cover a working area as much as possible without wetting the floor too much. The effectiveness of the algorithm is tested on simulation only. The results indicated that the behaviour-based algorithm provided more completeness while maintaining low energy compared to other methods. We study other navigation algorithm compared with our algorithm. It includes with zigzag, random and our behaviour-based algorithms. From simulation results, I confirm that behaviour-based algorithm is better than zigzag and random algorithms. (C) 2011 Published by Elsevier Ltd.

关键词： Robot Simulation navigation algorithm behaviour-based algorithm

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Vision-Based Wind and Position Estimation with Fixed-Wing Unmanned Aerial Vehicle

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2018年第10期41卷 2281-2290页

作者： Ryu, Hanseok Park, Sanghyuk Korea Aerosp Univ Dept Aerosp & Mech Engn Goyang Si 10540 Gyeonggi Do South Korea

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Adaptive Control of Precision Guided Airdrop Systems with Highly Uncertain Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2018年第5期41卷 1025-1035页

作者： Cacan, Martin R. Costello, Mark Georgia Inst Technol Woodruff Sch Mech Engn Ctr Adv Machine Mobil Atlanta GA 30322 USA Georgia Inst Technol Auton Guggenheim Sch Aerosp Engn Atlanta GA 30322 USA

The bulk of research in the field of precision guided airdrop systems has focused on improving landing accuracy in the presence of atmospheric winds that can exceed vehicle airspeed. One important challenge of parafoil systems is their highly uncertain flight dynamic behavior and control response, which can result from canopy degradation or an offnominal inflation event. This significantly impacts the ability to reach the target and can often lead to very large miss distances. This work addresses guided airdrop system model uncertainty with a novel combined direct and indirect adaptive control strategy to quickly characterize vehicle dynamics and lateral control sensitivity in flight. Extensive simulation and experimental flight testing indicate that the proposed adaptive algorithm is capable of high-accuracy landing in a large variety of degraded conditions, including unknown nonlinear changes in control sensitivity as well as control reversals. In comparison, current industry standard algorithms experience over an order of magnitude decrease in accuracy when tested under identical scenarios.

关键词： Adaptive Control algorithm Parafoil Experimental Flight Test Airspeed Control Reversal Adaptive algorithm navigation algorithm GPS Multiple Input Multiple Output algorithms Ability

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Study on Robust Lateral Controller for Differential GPS-Based Autonomous Vehicles

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INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 2018年第3期19卷 367-376页

作者： Park, Hyung-Gyu Ahn, Kyoung-Kwan Park, Myeong-Kwan Lee, Seok-Hee Univ Ulsan Sch Mech Engn 93 Daehak Ro Ulsan 44610 South Korea Pusan Natl Univ Grad Sch Mech Engn 2Busandaehak Ro 63beon Gil Busan 46241 South Korea

Recently, technological advancements in autonomous vehicle development have continued to accelerate. In this paper, we propose a lateral controller and navigation algorithm for autonomous vehicles based on the Differential Global Positioning System (DGPS), core technology of autonomous vehicles. In this study, an H-infinity (H-a) controller was designed lateral controller to ensure nominal safety and robustness against noise, external disturbances and structural and non-structural errors in vehicle modeling. Meanwhile, the "pure pursuit" approach which geometrically follows a path was employed as a path-tracking technique for the proposed navigation algorithm. A vehicle modeling simulation was conducted to evaluate the performance of the proposed method using a twodegrees- of-freedom linear model. The lateral H-a controller and navigation algorithm were applied to an actual vehicle, Their performances were evaluated by comparing the path tracking error at various speeds of autonomous vehicles with that of the proportional-integral-derivative (PID) controller.

关键词： Lateral control Robust controller Unmanned vehicle navigation algorithm Bicycle model Path tracking

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navigation algorithm for Floor-Mopping Robot

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Procedia Engineering 2012年 31卷 874-878页

作者： Wiruch Kongsin Satapon Kirita Department of Electrical Engineering Faculty of Engineering Rajamangala University of Technology Lanna Tak Campus 41 Phaholyothin Road Mai-Ngarm Muang Tak 6300 Thailand

关键词： Robot Simulation navigation algorithm behaviour-based algorithm

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Point Cloud Based Autonomous Area Exploration algorithm 4

Point Cloud Based Autonomous Area Exploration Algorithm

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Moratuwa Engineering Research Conference (MERCon) / 4th International Multidisciplinary Engineering Research Conference

作者： Priyasad, Darshana Jayasanka, Yohan Udayanath, Hareen Jayawardhana, Danuja Sooriyaarachchi, Sulochana Gamage, Chandana Kottege, Navinda Univ Moratuwa Dept Comp Sci & Engn Katubedda Sri Lanka CSIRO Robot & Autonomous Syst Grp Pullenvale Qld 4069 Australia

ISBN: (纸本)9781538644171

Autonomous navigation is highly important in robotics, especially when it comes to the robotic applications in disaster management etc. There are many algorithms to implement autonomous navigation and most of them are dependent on prior knowledge of the environment and apriori maps. Although they are effective in some scenarios, these algorithms fail to perform when the environment has been subjected to changes that might invalidate the prior map. This paper presents a point cloud based algorithm which can be used in a situation where the prior knowledge of the environment is highly inaccurate. The proposed algorithm uses depth images to get a local map, which it expands by searching for uncharted areas picking the next best location to explore using a breadth first approach given a set of constraints. The proposed algorithm exploits the maps in the 3D space allowing the navigation system to perform effectively in uneven terrains and use inclined planes for its advantage.

关键词： Autonomous Area Exploration navigation algorithm Path Planning Point Cloud 3D Mapping

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Real-time predication and navigation on traffic congestion model with equilibrium Markov chain

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INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS 2018年第4期14卷

作者： Zheng, Yan Li, Yanran Own, Chung-Ming Meng, Zhaopeng Gao, Mengya Tianjin Univ Sch Comp Software Tianjin 300350 Peoples R China Tianjin Univ Coll Management & Econ Tianjin Peoples R China Tianjin Univ Tradit Chinese Med Tianjin Peoples R China

With the explosive growth of vehicles on the road, traffic congestion has become an inevitable problem when applying guidance algorithms to transportation networks in a busy and crowded city. In our study, the authors proposed an advanced prediction and navigation models on a dynamic traffic network. In contrast to the traditional shortest path algorithms, focused on the static network, the first part of our guiding method considered the potential traffic jams and was developed to provide the optimal driving advice for the distinct periods of a day. Accordingly, by dividing the real-time Global Positioning System data of taxis in Shenzhen city into 50 regions, the equilibrium Markov chain model was designed for dispatching vehicles and applied to ease the city congestion. With the reveals of our field experiments, the traffic congestion of city traffic networks can be alleviated effectively and efficiently, the system performance also can be retained.

关键词： Intelligent transportation system collaborative driving navigation algorithm traffic congestion Markov chain

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Satellite and Vision-Aided Sensor Fusion for Cooperative navigation of Unmanned Aircraft Swarms

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2017年第6期14卷 327-344页

作者： Vetrella, Amedeo Rodi Fasano, Giancarmine Accardo, Domenico Univ Naples Federico II Dept Ind Engn Ple Tecchio 80 I-80125 Naples Italy

This paper presents a cooperative unmanned aerial vehicle navigation algorithm that allows a chief vehicle (equipped with inertial and magnetic sensors, a Global Positioning System receiver, and a vision system) to improve its navigation performance (in real time or in postprocessing phase), exploiting line-of-sight measurements from formation-flying deputies equipped with Global Positioning System receivers. The key concept is to integrate differential Global Positioning System and visual tracking information within a sensor fusion algorithm based on the extended Kalman filter. The developed concept and processing architecture are described, with a focus on the filtering algorithm. Then, flight-testing strategy and experimental results are presented. In particular, cooperative navigation output is compared with the estimates provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit accurate magnetic-and inertial-independent information.

关键词： Multisensor Fusion Unmanned Aircraft Swarms Satellites Differential Global Positioning System Extended Kalman Filter navigation Performance Micro Electro Mechanical Systems Quadrotor Flight Testing navigation algorithm

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Optimal Threshold Setting for Event-Based Control Strategies

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IEEE ACCESS 2017年 5卷 2880-2893页

作者： Socas, Rafael Dormido, Sebastian Dormido, Raquel Univ Nacl Educ Distancia Dept Informat & Automat E-28040 Madrid Spain

In this paper, an event-based control strategy for mobile robots is proposed. The solution includes new features that minimize the effects of the noise on the system. Two methodologies have been developed to compensate the perturbations. To avoid the effects of such perturbations, a threshold calculator and a perturbation estimator are included in the system. The proposed system is compared with classical control systems based on discrete time. Different scenarios are analyzed in the experiments to check its performance. The stability and the improvements of the proposed control strategy are also analyzed in the experimental results.

关键词： Mobile robots event-based control dynamic threshold setting navigation algorithm perturbation estimation

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