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Self-Contained Autonomous Indoor Flight with Ranging Sensor navigation

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2012年第6期35卷 1843-1854页

作者： Chowdhary, Girish Sobers, D. Michael, Jr. Pravitra, Chintasid Christmann, Claus Wu, Allen Hashimoto, Hiroyuki Ong, Chester Kalghatgi, Roshan Johnson, Eric N. Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

This paper describes the design and flight test of a completely self-contained autonomous indoor miniature unmanned aerial system (M-UAS). Guidance, navigation, and control algorithms are presented, enabling the M-UAS to autonomously explore cluttered indoor areas without relying on any off-board computation or external navigation aids such as Global Positioning Satellite (GPS). The system uses a scanning laser rangefinder and a streamlined simultaneous localization and mapping (SLAM) algorithm to provide a position and heading estimate, which is combined with other sensor data to form a six-degree-of-freedom inertial navigation solution. This enables an accurate estimate of the, vehicle attitude, relative position, and velocity. The state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. Improvements to existing guidance algorithms balance exploration with the need to remain within sensor range of indoor structures such that the SLAM algorithm has sufficient information to form a reliable position estimate. A dilution of the precision metric is developed to quantify the effect of environment geometry on the SLAM pose covariance, which is then used to update the two-dimensional position and heading in the navigation filter. Simulation and flight-test results validate the presented algorithms.

关键词： Inertial Sensor Self Contained Autonomous Indoor Flight Simultaneous Localization and Mapping Flight Testing navigation algorithm Matching algorithm Six Degree of Freedom Unmanned Aerial Systems Satellites Inertial navigation

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Dynamics in small worlds of tree topologies of wireless sensor networks

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Journal of Systems Engineering and Electronics 2012年第3期23卷 325-334页

作者： Qiao Li Baihai Zhang Zhun Fan Athanasios V.Vasilakos School of Automation Beijing Institute of TechnologyBeijing 100081R R.China Department of Mechanical Engineering Technical University of Denm arkKongens Lyngby 2800Denmark Department of Computer and Telecommunications Engineering University of Western MacedoniaKozani GR 50100Greece

Tree topologies, which construct spatial graphs with large characteristic path lengths and small clustering coefficients, are ubiquitous in deployments of wireless sensor networks. Small worlds are investigated in tree-based networks. Due to link ad- ditions, characteristic path lengths reduce rapidly and clustering coefficients increase greatly. A tree abstract, Cayley tree, is con- sidered for the study of the navigation algorithm, which runs auto- matically in the small worlds of tree-based networks. In the further study, epidemics in the small worlds of tree-based wireless sen- sor networks on the large scale are studied, and the percolation threshold is calculated, at which the outbreak of the epidemic takes place. Compared with Cayley tree, there is a smaller percolation threshold suffering from the epidemic.

关键词： epidemic navigation algorithm small world tree topology.

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A neural network based holistic model of ant route navigation

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BMC Neuroscience 2012年第1期13卷 1-2页

作者： Bart Baddeley Philip Husbands Andrew Philippides Paul Graham Centre for Computational Neuroscience and Robotics Department of Informatics University of Sussex Brighton BN1 9QG UK Centre for Computational Neuroscience and Robotics School of Life Sciences University of Sussex Brighton BN1 9QJ UK

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navigation algorithms and Observability Analysis for Formation Flying Missions

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2009年第4期32卷 1218-1231页

作者： Huxel, Paul J. Bishop, Robert H. Univ Texas Austin Austin TX 78712 USA

navigation algorithms and the corresponding observability analysis for formation flying missions are developed. In particular, the advantages and concerns associated with the use of combinations of inertial and relative measurements are examined. The methodology of the observability analysis relates the physical geometry of the observers, as well as the spacecraft formation, to a measure of linear time-invariant system observability. The investigation also examines the robustness of the extended Kalman filter while simultaneously processing inertial and relative range measurements. It has been shown that processing relative range measurements in conjunction with inertial range measurements can directly increase the accuracy of the inertial state estimate. However, it has also been shown that when there is relatively large uncertainty in the state estimate, the addition of relative measurements can cause an otherwise convergent filter to diverge. This paper considers several methods for preventing this divergence, as well as an in-depth examination of second-order terms to explain the basis of the problem. In particular, to illustrate their potential significance, analytical bounds are derived for the second-order terms.

关键词： navigation algorithm Formation Flying Extended Kalman Filter Linear Time Invariant System Spacecraft Formation Argument of Latitude Earth navigation Performance Computing Orbital Elements

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Synchronized Intelligent Buoy Network for Underwater Positioning

Synchronized Intelligent Buoy Network for Underwater Positio...

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Washington State Conference and Trade Center (WSCTC)

作者： Almeida, Rui Cruz, Nuno Matos, Anibal INESC FEUP DEEC P-4200465 Oporto Portugal

ISBN: (纸本)9781424443338

This paper addresses the development of a new generation of lightweight intelligent buoys. These buoys are used to support underwater acoustic positioning systems, but were also designed to be elements of portable coastal observatories for short term deployments. We will present the main features of a buoy prototype including the physical structure, the computational system and algorithms developed to support operations. The paper also shows how to take advantage of this new tool to implement different navigation algorithms for AUVs.

关键词： AUV autonomous underwater vehicle intelligent buoy network mobile robots navigation navigation algorithm position control prototypes remotely operated vehicles underwater acoustic positioning system underwater vehicles

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Indoor positioning in peer-to-peer networks

Indoor positioning in peer-to-peer networks

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5th ESA Workshop on Satellite navigation Technologies / European Workshop on GNSS Signals and Signal Processing (NAVITEC)

作者： Brussee, Rogier Darau, Mirela Dworczynska, Marta Fan, Yabin Koeleman, Paulien Kowalczyk, Piotr Samson, Jaron Schlomer, Nico Swist, Tomasz van Wijk, Sandra Univ Appl Sci Utrecht Utrecht Netherlands Eindhoven Univ Technol Eindhoven Netherlands Wroclaw Univ Technol Wroclaw Poland Free Univ Amsterdam Amsterdam Netherlands Univ West Scotland London England European Space Agcy ESTEC Noordwijk Netherlands Univ Antwerp Antwerp Belgium Warsaw Univ Warsaw Poland

ISBN: (纸本)9781424487417

We present two algorithms for indoor positioning in peer-to-peer networks. The setup is a network of two types of devices: reference devices with a known location, and user devices that can determine distances to reference devices and each other. We present two algorithms for positioning estimation in such a peer-to-peer network. The first one is purely geometric and reduces determining the best estimate for the position of a device to a least squares problem. The second approach can be considered as a probabilistic version of the geometric approach. We estimate the probability density function that a device is located at a position, given a probability density function for the positions of the other devices in the network, and a probability density function of the measured distances.

关键词： navigation algorithm positioning estimate peer-to-peer network least squares probability density function

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Event Triggers in Linear Covariance Analysis with Applications to Orbital Rendezvous

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2009年第1期32卷 102-111页

作者： Geller, David K. Ben Rose, M. Woffinden, David C. Utah State Univ Logan UT 84322 USA

The analytic expressions for a generic event trigger for a linear covariance analysis are developed. The event triggers are applied to the analysis of a common orbital rendezvous problem. Some unexpected results are observed and a flaw in an equation that is commonly used in standard linear covariance analysis applications is uncovered and remedied. A quantitative analysis of the effect of elevation-angle triggers for various rendezvous scenarios is presented.

关键词： Earth Orbital Rendezvous Orbital Transfer Monte Carlo Simulation Flight Computer Resident Space Object LIDAR Targeting algorithms White Noise navigation algorithm Dirac Delta Function

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A virtual centrifugal force based navigation algorithm for explorative robotic tasks in unknown environments

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ROBOTICS AND AUTONOMOUS SYSTEMS 2005年第4期51卷 261-274页

作者： Su, LY Tan, M Beijing Univ Technol Coll Mech Engn Beijing 100080 Peoples R China Chinese Acad Sci Inst Automat Beijing 100080 Peoples R China

In many robotic tasks, there is no a priori knowledge of the environment. This makes it necessary for robots to explore the environment. navigation algorithms for robots to map the environment completely in a short time play a very important role in the robotic task completion. A navigation algorithm based on virtual centrifugal force is proposed to complete the robotic exploration of the unknown environment using rang sensors in this paper. Collisions between a robot and an obstacle or between robots can be avoided with the application of the proposed navigation rules. The kinematics and dynamics equations of robots adopting the algorithm are also given. The simulation experiments demonstrate the operation of the algorithm. Several simulation experiments of various representative robotic tasks are carried out, based on the explorative navigation algorithm, which successfully validate the virtual centrifugal force based navigation algorithm. (c) 2005 Elsevier B.V. All rights reserved.

关键词： environment exploration multi-robotic task navigation algorithm virtual centrifugal force

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Performance comparison of Bug navigation algorithms

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2007年第1期50卷 73-84页

作者： Ng, James Braeunl, Thomas Univ Western Australia EECE M01835 Stirling Hwy Perth WA 6009 Australia

The Bug algorithm family are well-known robot navigation algorithms with proven termination conditions for unknown environments. Eleven variations of Bug algorithm have been implemented and compared against each other on the EyeSim simulation platform. This paper discusses their relative performance for a number of different environment types as well as practical implementation issues.

关键词： mobile robot navigation algorithm Bug algorithm performance comparison

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Environment exploration using a navigation algorithm based on virtual centrifugal force

Environment exploration using a navigation algorithm based o...

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IEEE International Conference on Robotics and Automation

作者： Su, LY Yu, YQ Tan, M Liu, GP Beijing Univ Technol Sch Mech Engn Appl Elect Engn Beijing 100022 Peoples R China

ISBN: (纸本)0780382323

Environment exploration and map-building are one of the fundamental robotic application researches. An appropriate navigation algorithm can facilitate robots to map the environment within shorter time. A real-time navigation algorithm based on virtual centrifugal force is proposed in this paper for a robot to implement on-line exploration of an unknown environment in real time, and collision between a robot and an obstacle can be avoided with the VCF algorithm. The wall-following strategy is one of the special cases of the proposed algorithm when the robot approaches an obstacle. Simulation experiments are implemented to verify the effectivity of the proposed algorithm.

关键词： navigation algorithm virtual centrifugal force environment exploration map-building

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