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检索条件"主题词=navigation algorithm"

共 102 条记录，以下是81-90 订阅

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Jumper-Inspired Guidance Logic for Precision Guided Airdrop Systems

Jumper-Inspired Guidance Logic for Precision Guided Airdrop ...

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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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A Novel Infrared navigational algorithm for Autonomous Robots

A Novel Infrared Navigational Algorithm for Autonomous Robot...

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IEEE International Conference on Artificial Intelligence and Information Systems (ICAIIS)

作者： Doumbia, Mamadou Cheng, Xu Chen, Lipei Hunan Univ Sch Comp Sci & Elect Engn Changsha 420082 Peoples R China

ISBN: (数字)9781728165905

ISBN: (纸本)9781728165905

This paper contains a hybridization technique of an Odometer (Odom) and an Inertial navigation System (INS). The originality lies in the formulation of the odometer integrated by a Novel Infrared navigational algorithm (NIRNA) to build the system (Odom/INS) proposed. NIRNA, an algorithm for sensor fusion and navigation, is presented and its integration introduced to build Odom/INS system. In addition, the kinematic of the 4 wheeled mobile robot is study to consider two localization techniques based on (Inertial Measurement Units (IMU) and Odometer). The whole system built integrates the two localization techniques and use an Integrated Kalman Filter (IKF) as data fusion module in order to improve the estimated output of the whole system. Two simulation tests are conducted to evaluate the built system's performance. As fusion algorithm, Unscented Kalman Filter (UKF) and Extended Kalman Filter (EKF) are used (in turn) in the IKF module to investigate the robustness and accuracy of the built hybrid system and later compare their implementation results. The simulation results show that the proposed system is feasible and reliable and its implementation with NIRNA outperforms that of some existent navigation algorithms such as HCTNay. That is confirmed by the resulting results that the implementation with NIRNA presents higher accuracy estimation and lower meansquare error (MSE) for mobile robot state than for instance, the implementation with HCTNay.

关键词： Odometry INS Sensor fusion navigation algorithm Mobile robot

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Hardware-in-the-Loop Testing for Suborbital Flights of the Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) Project Technologies

Hardware-in-the-Loop Testing for Suborbital Flights of the S...

引用

AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Rutishauser, David K. Tse, Teming NASA Johnson Space Ctr Houston TX 77058 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

The Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project continues NASA's extensive heritage of precision navigation and hazard avoidance for landing technology development. These technologies support human and robotic exploration, providing the capabilities to perform planetary landings accurately to desired sites of interest, and complete the landings safely despite challenging terrain. The SPLICE project is developing sensor systems, navigation algorithms and techniques, and computing resources that will be tested as an integrated Precision Landing and Hazard Avoidance (PL&HA) system in the coming year on a suborbital rocket flight provided by a commercial company. This partnership resulted from a NASA Tipping Point Solicitation, designed to utilize industry-developed space technologies for the demonstration of NASA capabilities to significantly advance their maturity. To this end, SPLICE avionics and software/simulation teams are developing a Hardware-in-the-Loop (HWIL) simulation capability to provide a development, integration, and test and verification platform for the SPLICE payload suborbital flight configuration. Key elements of this HWIL platform are (1) the Descent and Landing Computer (DLC), which integrates all the SPLICE technologies and provides the computational capabilities for the system, (2) the core Flight System cFS, an agency investment in a flight software framework, (3) the TRICK simulation, another agency investment in a simulation framework, (4) models for the flight vehicle, navigation sensors, and environment, and (5) the Guidance, navigation, and Control algorithms and software that define the PL&HA capabilities for SPLICE.

关键词： Suborbital Flights Sensor Technology navigation algorithm Avionics Software Computing Resources Rocket Flight Space Technology Control algorithm Flight Vehicle Inertial Measurement Unit

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Spacecraft Rendezvous and Docking with Obstacle Avoidance Using Bounded Buffered Voronoi Cells

Spacecraft Rendezvous and Docking with Obstacle Avoidance Us...

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AIAA SciTech Forum

作者： Chafe, Nolan Ulrich, Steve Carleton Univ Dept Mech & Aerosp Engn 1125 Colonel By Dr Ottawa ON K1S 5B6 Canada

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This work proposes an online autonomous guidance algorithm for rendezvous and docking involving a controlled chaser spacecraft and uncooperative target in the presence of a dynamic obstacle. We propose the Bounded Buffered Voronoi Cell (BBVC), a modified Voronoi Cell bound to a finite region which dynamically adjusts its boundaries between other agents to introduce keep-out-zones around obstacles and targets. The chaser navigates to local targets within its BBVC, thereby avoiding collisions, as it navigates to and eventually docks with its target. This guidance algorithm is simulated to demonstrate its ability to generate collision-free paths.

关键词： Model Predictive Control Spacecraft Rendezvous navigation algorithm Target Spacecraft Collision Avoidance Path Planning Mobile Robots MATLAB Spacecraft Proximity Operations Dijkstra's algorithm

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Performance Analysis of a Dual Quaternion Guidance algorithm applicable during Lunar Approach with a Hazard Avoidance Maneuver

Performance Analysis of a Dual Quaternion Guidance Algorithm...

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AIAA SciTech Forum

作者： Doll, Javier A. Wagner, Samuel T. Fritz, Matthew P. Jang, Jiann-Woei Harper, Jeanette M. Smith, Kyle W. Acikmese, Behcet Pedrotty, Samuel M. Mendeck, Gavin F. Charles Stark Draper Lab Cambridge MA USA NASA Johnson Space Ctr Washington DC 20546 USA Odyssey Space Res Houston TX USA Univ Washington Seattle WA 98195 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

There is currently a need for advanced guidance and targeting algorithms that can provide real-time trajectories in the presence of state and vehicle constraints during powered descent. The Safe & Precise Landing Integrated Capabilities Evolution (SPLICE) program aims to mature Hazard Detection (HD) technology along with advanced navigation and guidance algorithms. This paper will report the overall performance of the SPLICE Dual Quaternion Guidance (DQG) algorithm which is a 6-Degree-of-Freedom (6-DOF) convex optimization-based guidance algorithm that can enforce multiple vehicle and state constraints required for Hazard Detection Lidar (HDL) scans during the approach phase. DQG was tested in a closed-loop lunar descent simulation with realistic HDL sensing constraints in a Monte Carlo assessment of 1000 dispersed runs.

关键词： navigation algorithm Dual Quaternions Three Degrees of Freedom Linear Time Invariant Convex Optimization LIDAR algorithm Performance Guidance, navigation, and Control Propellant Slosh Attitude Control System

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Autonomous Guidance and Flight Control on a Partial-Authority Black Hawk Helicopter

Autonomous Guidance and Flight Control on a Partial-Authorit...

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AIAA Aviation Forum

作者： Takahashi, Marc D. Fujizawa, Brian T. Lusardi, Jeffery A. Whalley, Matthew S. Goerzen, Chad L. Schulein, Gregory J. Mielcarek, Nathan L. Archdeacon, John L. Cleary, Mark J. Carr, James P. Waldman, David W. US Army Combat Capabil Dev Command Aviat & Missile Ctr Moffett Field CA 94035 USA San Jose State Res Fdn San Jose CA 23604 USA Univ Space Res Assoc USRA Moffett Field CA 94035 USA ASRC Fed Res & Technol Solut Moffett Field CA 94035 USA US Army Combat Capabil Dev Command Aviat & Missile Ctr Ft Eustis VA 23604 USA

ISBN: (数字)9781624105982

ISBN: (纸本)9781624105982

This paper describes an autonomous guidance and flight control system that was integrated and flight-tested on a partial-authority Black Hawk helicopter. This effort was part of the Degraded Visual Environment Mitigation program, whose objective is to provide all weather capability for U.S. Army rotorcraft operations. The guidance and flight-control system software were previously flight tested on a full-authority helicopter, and for this work, was adapted to fly on a partial-authority helicopter. The main autonomy components of the system consist of the Risk Minimizing Obstacle Field navigation algorithm, Safe Landing Area Determination algorithm, and the Integrated Cueing Environment. These components provide reactive avoidance guidance, landing site selection, and pilot situational awareness for degraded visual environments. To test the system, a LADAR was used as a surrogate-ranging device in lieu of an all-weather sensor system that was concurrently under development for the program. The autonomous partial-authority flight control system provides a fully stabilized path-following capability that is directed with a series of waypoints or flight-path vector commands. This paper describes the control system, its performance, and how it was adapted to a partial-authority system that is typical of current U.S. Army fleet helicopters. The autonomy software and human interface components are also described. Flight test results are presented of the fully integrated system navigating through terrain, selecting landing sites, and autonomously landing. Analysis is presented that compares partial-authority results to previously collected full-authority results.

关键词： Helicopters Flight Control System Test Pilots Flight Testing Control Systems Rotorcrafts navigation algorithm Position Sensors Obstacle Avoidance Landing Zone

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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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Enhancing Target Acquisition in Long-Range Missiles through Multi-Sensor Fusion

Enhancing Target Acquisition in Long-Range Missiles through ...

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AIAA SciTech Forum

作者： Schneider, Marc Fichter, Walter Univ Stuttgart Inst Flight Mech & Controls Pfaffenwaldring 27 D-70569 Stuttgart Germany

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Long-range missiles cannot lock onto their target at launch. Instead, they rely on estimates of the line-of-sight between the missile and the target to orient their seeker head toward the target when entering seeker range. Whereas inertial navigation, which works by integrating the angular rates and specific forces measured by the inertial measurement unit, is sufficient for short ranges, sensor drift and initialization errors render this method unusable for longer ranges due to large errors in the line-of-sight. Therefore, a navigation algorithm is proposed that additionally uses measurements of the fire-control radar with respect to the missile and the target, as well as satellite navigation in a multiplicative extended Kalman filter to estimate the state of the missile and the target. Furthermore, the misalignment of the radar station is estimated through a novel recursive least squares estimator, thereby reducing the systematic errors in the radar measurement. Monte Carlo simulations show the increased performance of the proposed algorithm, ultimately resulting in a higher number of targets within the seeker's instantaneous field of view. Further simulations demonstrate that the radar range with respect to the missile and the update frequency of the radar measurements can be reduced with almost no reduction in estimation quality. The scalability of the novel estimation method regarding the radar misalignment is proven by simulations with two radars.

关键词： Missiles Sensor Fusion Target Acquisition Fire Control Radar Satellite navigation Inertial navigation navigation algorithm Extended Kalman Filter Inertial Measurement Unit Monte Carlo Simulation

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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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Toward Autonomous In-flight Docking of Unmanned Multi-rotor Aerial Vehicles

Toward Autonomous In-flight Docking of Unmanned Multi-rotor ...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Rocha, Ryan A. Robinson, Stephen K. Univ Calif Davis Mech & Aerosp Engn Davis CA 95616 USA Univ Calif Davis Dept Mech & Aerosp Engn Davis CA 95616 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

The aim of this research was to develop a cost effective, low complexity and off-the-shelf system for autonomous in-flight docking of unmanned, battery-powered MAVs using only onboard sensors. The robotic system presented herein consists of two MAVs, a computer vision system and a docking mechanism. The docking MAV is responsible for performing the docking maneuver, while the carrier MAV holds position and receives the docking MAV. The docking mechanism consists of a rigid mast attached to the top of the carrier MAV. The vision system's camera is at the top of the mast, pointed along the z-direction of the carrier MAV. The frame of the docking MAV is ring-shaped to fit over the mast. The ring-shaped frame of the docking MAV is surrounded with LED (light-emitting diode) fiducial markers used by the vision system. A simulation was constructed in order to model the system and develop the detection, tracking and navigation algorithms. The algorithms were shown to be successful in simulation. The docking MAV's ability to hold its position over the center of the camera was tested using only GPS and the performance of that test was compared to a similar test using the computer vision system. The use of the computer vision system reduced the root-mean-square error of the MAV's position hold by 89% (0.73 m to 0.09 m) while also reducing its time spent outside of a desired horizontal radial limit of 0.1 m to 22% from 95%. These results suggest that this system is a viable approach to an in-flight docking system.

关键词： Autonomous Flight Computer Vision navigation algorithm Image Processing Onboard Sensors Downwash Quadrotor Flight Testing Yaw Control Flight Control System

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