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Tracking of Ground Mobile Targets by Quadrotor Unmanned Aerial Vehicles

UNMANNED SYSTEMS 2014年第2期2卷 157-173页

作者： Tan, Ruoyu Kumar, Manish Univ Toledo Mech Ind & Mfg Engn Dept Toledo OH 43606 USA

This paper focuses on the development of control and guidance laws for quadrotor Unmanned Aerial Vehicles (UAVs) to track maneuvering ground targets. Proportional Derivative (PD) control law is a popular choice to be used as a tracking controller for quadrotors, but it is often inefficient due to practical acceleration constraints and a number of parameters that need to be tuned. The paper proposes a Proportional navigation (PN)-based switching strategy to address the problem of mobile target tracking. The experiments and numerical simulations performed using nonmaneuvering and maneuvering targets show that the proposed PN-based switching strategy not only carries out effective tracking but also results into smaller oscillations and errors when compared to the widely used PD tracking method. The proposed PN-based switching strategy presents an important question with regard to when the switching should happen that would minimize the positional error between the UAV and the target. An optimal switching strategy, which is based on the analytical solutions of the PN and PD methods, is proposed. The numerical simulations not only validate the theoretical results with regard to the optimality of the proposed method for both nonmaneuvering and maneuvering targets but also demonstrate that the proposed method is robust to measurement noise.

关键词： Unmanned aerial vehicles target tracking navigation algorithms

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Obstacle Avoidance and Path Planning Methods for Autonomous navigation of Mobile Robot

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SENSORS 2024年第11期24卷 3573页

作者： Katona, Kornel Neamah, Husam A. Korondi, Peter Univ Debrecen Fac Engn Dept Elect Engn & Mechatron H-4028 Debrecen Hungary

Path planning creates the shortest path from the source to the destination based on sensory information obtained from the environment. Within path planning, obstacle avoidance is a crucial task in robotics, as the autonomous operation of robots needs to reach their destination without collisions. Obstacle avoidance algorithms play a key role in robotics and autonomous vehicles. These algorithms enable robots to navigate their environment efficiently, minimizing the risk of collisions and safely avoiding obstacles. This article provides an overview of key obstacle avoidance algorithms, including classic techniques such as the Bug algorithm and Dijkstra's algorithm, and newer developments like genetic algorithms and approaches based on neural networks. It analyzes in detail the advantages, limitations, and application areas of these algorithms and highlights current research directions in obstacle avoidance robotics. This article aims to provide comprehensive insight into the current state and prospects of obstacle avoidance algorithms in robotics applications. It also mentions the use of predictive methods and deep learning strategies.

关键词： obstacle avoidance global path planning local path planning autonomous vehicles navigation algorithms

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Simulation-Based Evaluation of Robot and Wireless Sensor Network Interaction

Simulation-Based Evaluation of Robot and Wireless Sensor Net...

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IEEE International Conference on Automation, Quality and Testing, Robotics

作者： Sebestyen-Pal, Gheorghe Rus, George-Daniel Tech Univ Cluj Napoca Dept Comp Sci Cluj Napoca Romania

ISBN: (纸本)9781467307024

The main goal of the present research is to analyze the interaction scenarios between an autonomous vehicle or robot and a wireless sensor network. This paper presents the design solutions and experimental results for two problems: autonomous navigation guided by a sensor network and environmental data acquisition using a moving robot. In order to evaluate different scenarios and algorithms a simulation application was developed. The application allows random or manual definition of environmental scenarios and implements different algorithms for navigation and data acquisition. The results can be analyzed through a graphical user interface. The application may be used to model and evaluate a given real scenario or to test new algorithms in a randomly generated environment.

关键词： wireless sensor network navigation algorithms simulation robot localization and movement

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Integral Framework for UAV: navigational and Wireless Connectivity Aspects

Integral Framework for UAV: Navigational and Wireless Connec...

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IEEE Region 10 Symposium (TENSYMP) - Good Technologies for Creating Future

作者： Kanchi, Sravanti Prasad, Raja Vara Indian Inst Informat Technol IIIT Sri City Chitoor 517646 AP India

ISBN: (纸本)9781665400268

Field tests in the early stages of Unmanned Aerial Vehicles (UAV) applications into real-world scenarios are challenging and time-consuming, especially in urban and irregular terrains with harsh environmental conditions where human safety is an utmost concern. This paper focuses on the development of an integral framework that includes navigational and wireless link aspects for different terrains and environmental conditions. The proposed framework is based on the integration of ROS, Gazebo, and Matlab. Simulations of UAVs are performed in urban and irregular terrain scenarios considering different environmental conditions like rain, and fog. Signal Strength and Bit Error Rate are studied for different environmental conditions. Results and observations from this work show that wireless link aspects with respect to different terrains and environmental conditions can be better analyzed with the proposed integral simulation framework.

关键词： navigation algorithms Propagation Models SBR Wireless Connectivity UAV

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A Comparative Study of k-NN and Hazard-based Models for Incident Duration Prediction 17

A Comparative Study of k-NN and Hazard-based Models for Inci...

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IEEE 17th International Conference on Intelligent Transportation Systems (ITSC)

作者： Araghi, Bahar N. Hu, Simon Krishnan, Rajesh Bell, Michael Ochieng, Washington BlipSystems DK-9310 Vester Hassing Vodskov Denmark Univ London Imperial Coll Sci Technol & Med Ctr Transport Studies Dept Civil & Environm Engn London SW7 2BU England Univ Sydney Ports & Maritime Logist Inst Transport & Logist Sydney NSW 2006 Australia Univ London Imperial Coll Sci Technol & Med Positioning & Nav Syst London SW7 2AZ England Univ London Imperial Coll Sci Technol & Med Ctr Transport Studies Dept Civil & Environm Engn London SW7 2AZ England

ISBN: (纸本)9781479960781

The motivation behind this paper is to enhance the reliability of in-vehicle navigation systems by predicting the duration of incidents that cause congestion. The main objective of this paper is to develop a methodology for predicting incident duration using broadcast incident data and evaluate the performance of k-NN and hazard-based duration models for predicting incident duration;both of the models are presented in this paper. An incident dataset from the BBC for the Greater London area is used to evaluate the accuracy of both models so that the results give a direct comparison between the models. The strengths and weaknesses of the models are discussed in the paper based on this analysis. Results show that both k-NN and hazard based models have the potential to provide accurate incident duration prediction. While k-NN based models provided marginally more accurate prediction than hazard-based models, the hazard-based duration models can provide additional information such as delay probabilities that can be used by advanced routing and navigation algorithms. Results also show that traffic information incident feeds, such as the tpegML feed from the BBC or TMC information, can be used as a potential data source for incident duration prediction in vehicle navigation systems.

关键词： pattern classification traffic information systems BBC Greater London area TMC advanced routing algorithms broadcast incident data delay probabilities hazard-based duration models in-vehicle navigation systems incident duration prediction k-NN models navigation algorithms tpegML feed traffic information incident vehicle navigation systems Accuracy Data models Estimation Hazards navigation Predictive models Vectors

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Motion Estimation of an Autonomous Surface Craft using an Unscented Kalman Filter 22

Motion Estimation of an Autonomous Surface Craft using an Un...

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22nd Mediterranean Conference on Control and Automation (MED)

作者： Wirtensohn, Stefan Schuster, Michael Oswald, Markus Reuter, Johannes Univ Appl Sci Konstanz Fac Elect Engn D-78462 Constance Germany

ISBN: (纸本)9781479959013

This paper addresses the problem of navigation algorithms in the context of high accuracy motion control for a unmanned surface crafts. The effectiveness of an unscented Kalman filter algorithm in combination with a detailed nonlinear 3DOF dynamical model for motion estimation is shown. Water currents are regarded as slowly varying parameters estimated by the filter which has been augmented by two states for that purpose. The performance is demonstrated by comparing two control tasks in a real world environment with and without motion filtering.

关键词： Kalman filters marine control mobile robots motion control motion estimation nonlinear filters path planning robot dynamics telerobotics autonomous surface craft high accuracy motion control navigation algorithms nonlinear 3DOF dynamical model parameter estimation slowly varying parameters unmanned surface crafts unscented Kalman filter unscented Kalman filter algorithm water currents Equations Global Positioning System Mathematical model Propellers Trajectory

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Mexican Robot Rescue for Earthquake 20

Mexican Robot Rescue for Earthquake

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20th Mexican Robotics Congress (COMRob)

作者： Jesus, Alvarez-Cedillo A. Patricia, Perez-Romero Teodoro, Alvarez-Sanchez Inst Politecn Nacl Mexico City DF Mexico IPN UPIICSA Mexico City DF Mexico IPN CIDETEC Mexico City DF Mexico Inst Politecn Nacl Cd Tijuana Mexico IPN Mexico Mexico City DF Mexico

ISBN: (纸本)9781538692202

Mexico is located in one of the seismically active regions of the world, located inside the known as the Belt Circum where most seismic activities concentrated area. In the last five years, there have been significant magnitude earthquakes affecting states like Oaxaca, Puebla, Morelos, Guerrero, Michoacan and Mexico City. The number of people who died trapped inside the rubble was very high and in the coming years will continue to have constant seismic activity. The need to develop a robot to detect people caught not a prototype but as a professional tool rescue is a priority. In this paper propose the development of a robot rescuer with various sensors designed to detect temperature, breathing detect people in the rubble. The proposed robot will move through the debris to detect human.

关键词： Robotics robotics applications navigation algorithms Robot rescuer

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PATH PLANNING WITH MARKOVIAN PROCESSES

PATH PLANNING WITH MARKOVIAN PROCESSES

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6th International Conference on Informatics in Control, Automation and Robotics

作者： Szoke, Istvan Lazea, Gheorghe Tamas, Levente Popa, Mircea Majdik, Andras Tech Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9789896740009

This paper describes the path planning for the mobile robots, based on the Markov Decision Problems. The presented algorithms are developed for resolving problems with partially observable states. The algorithm is applied in an office environment and tested with a skid-steered robot. The created map combines two mapping theory, the topological respectively the metric method. The main goal of the robot is to reach from the home point to the door of the indoor environment using algorithms which are based on Markovian decisions.

关键词： Path planning navigation algorithms Mapping Mobile robots Markovian processes

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Spatial Positioning and Annotations for Dissemination of Information 3

Spatial Positioning and Annotations for Dissemination of Inf...

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3rd International Conference on Smart Generation Computing, Communication and Networking, SMART GENCON 2023

作者： Hebbar, Surya Raghavendra Achar, C. Maradithaya, Sumana Mittal, Rashi Sudeep, C.K. Ramaiah Institute of Technology Department of Information Science and Engineering Bengaluru India

ISBN: (纸本)9798350319125

The paper provides an architecture for building a computational infrastructure with embedded and remote data repositories to facilitate dissemination of information through annotations. This expedites the users ability to provide and retrieve real-time information on recent events in their locale. The approach utilizes processing of architectural floor plans, GPS coordinates, IMU sensor values and WiFi RSSI values to extrapolate a different set of spatial coordinates, to display 2-dimensional and 3-dimensional annotations on synthetic blueprints(2D maps) and captured video frames respectively(AR). Commodity hardware present on smartphones possess afore-mentioned instrumentation and the required computational power, providing the ability to disseminate information during real-time events in institutions, museums, libraries, hospitals, marketplaces, airports and construction sites. © 2023 IEEE.

关键词： 2D Maps Accelerometer Android Canvas Libraries Android SensorManager Libraries Android WifiManager Libraries AR Architectural floor plan Augmented Reality Dead Reckoning DWG DXF Embedded Databases ExpressJS Floor blueprint GLB GLIF Google AR Core Google Filament Libraries Gyro-scope Image Processing IMU sensors MariaDB navigation algorithms NodeJS OCR Optical Character Recognition PNG Positioning algorithms Servers SQLite Tesseract WiFi WiFi RSSI values

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Processing of data from the camera of structured light for algorithms of image analysis in control systems of mobile robots

Processing of data from the camera of structured light for a...

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International Conference on Modern Engineering: Science and Education, MESE 2011

作者： Skakunov, Vladimir Belikov, Victor Zhoga, Victor Nesmiynov, Ivan Volgograd State Technical University Volgograd Russia Volgograd State Agrarian University Volgograd Russia

ISBN: (纸本)9783319295787

The article discusses the preprocessing algorithms of three-dimensional clouds of points from structured light cameras, methods of image recognition, algorithms for constructing maps and route planning for robot motion. Various methods and algorithms for the transformation of a three-dimensional cloud of points leads to reduction of computational complexity of all stages of data processing for implementation of the algorithm on an onboard navigation system with limited computing resources. Based on the proposed sequence of image conversion, software has been developed for implementation of the algorithm of spatial orientation of a robot. Image processing methods and functions of PCL and ROS metapackage libraries were used. Experimental study of the possibilities of the developed image processing and route construction algorithm was made using the prototype of a mobile robot on a wheeled platform. © Springer International Publishing Switzerland 2016.

关键词： 3D point clouds Mobile robot navigation algorithms Pattern recognition algorithms Structured-light camera Supervisory management

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