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第40届中国控制会议

作者： Xun Gu Bin Xian The institute of Robotics and Autonomous System School of Electrical and Information EngineeringTianjin University School of Electronic and Communication Engineering Guiyang University

This paper presents a new geometry based attitude and position controller for a small size unmanned helicopter, which is able to achieve the agile flight maneuvers in a large flight envelope. The controller is designed on SE（3） by using the geometry control technology, which avoids the singularity inherented in the Euler angles based attitude representation, and unwinding behaviours existed in the quaternion based attitude representation. Moreover, the effects associated with the unknown external disturbances are compensated via the disturbance observers in the attitude loop and the position loop. By using the precise estimate values combined with the geometry controller, it achieves the strongly robustness to the external disturbances. Then,the Lyapunov based stability analysis is employed to prove that the proposed control algorithm can guarantee the convergence of the UAV’s position and attitude tracking errors. Finally, numerical simulations are included to show the effectiveness of the proposed control algorithm.

关键词： Unmanned helicopter attitude and position control geometric control agile flight maneuvers disturbance observer

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Cooperative Robot Localization and Target Tracking based on Least Squares Minimization

Cooperative Robot Localization and Target Tracking based on ...

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IEEE International Conference on robotics and Automation

作者： Aamir Ahmad Gian Diego Tipaldi Pedro Lima Wolfram Burgard Institute for Systems and Robotics Instituto Superior Tecnico Autonomous Intelligent System Laboratory Department of Computer Science Albert-Ludwigs-Universitat Freiburg

ISBN: (纸本)9781467356404

In this paper we address the problem of cooperative localization and target tracking with a team of moving robots. We model the problem as a least squares minimization problem and show that this problem can be efficiently solved using sparse optimization methods. To achieve this, we represent the problem as a graph, where the nodes are robot and target poses at individual time-steps and the edges are their relative measurements. Static landmarks at known position are used to define a common reference frame for the robots and the targets. In this way, we mitigate the risk of using measurements and state estimates more than once, since all the relative measurements are i.i.d. and no marginalization is performed. Experiments performed using a set of real robots show higher accuracy compared to a Kalman filter.

关键词： Target tracking Robot relative measurement REFERENCE FRAMES Kalman filters Least squares method Optimization methods Targets

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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autonomous hovering control for a quadrotor unmanned aerial vehicle

Autonomous hovering control for a quadrotor unmanned aerial ...

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Chinese Control Conference (CCC)

作者： Fu Wang Bin Xian Guoping Huang Bo Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

In this paper, an autopilot system for the quadrotor unmanned aerial vehicle (UAV) is developed by utilizing a digital signal processor (DSP) as the on-board micro-control unit (MCU). The hardware setup and the software are also developed for the autonomous flight control of the UAV. The main design procedure includes the controller board design, brushless DC motor driver design, sensor data processing software design, and flight control algorithm design. The control algorithm is developed based on the inner loop and outer loop control method. Proportional Derivative (PD) controllers are proposed for the attitude dynamics (inner loop) and position dynamics (outer loop) respectively. autonomous hovering control is achieved via the control of roll angle, pitch angle, yaw angle and altitude of the UAV. Experiments results are included to demonstrate the hovering control performance.

关键词： Digital signal processing Pulse width modulation Electronic mail Unmanned aerial vehicles Educational institutions Digital signal processors Heuristic algorithms

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Active Camera View Planning Based on Deep Reinforcement Learning in Indoor Exploration

Active Camera View Planning Based on Deep Reinforcement Lear...

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第42届中国控制会议

作者： Hao-Yu Wang Qing-Hao Meng Xu-Yang Dai Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and SystemSchool of Electrical and Information Engineering Tianjin University

In the last decades, significant progress has been made in the field of active vSLAM（visual simultaneous localization and mapping）. However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning（DRL）, which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network（CNN）. Second, the DRL-based camera view planning method is trained through the proximal policy optimization（PPO）algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4%（33.86 m for traditional vs. 35.21 m for the suggested method）. Meanwhile, the kind of semantic information newly observed in each step increases by 21%（2.9 for traditional vs. 3.5 for the proposed method） on average, indicating the improvement in the efficiency of information acquisition.

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Development of a three degree-of-freedom testbed for an unmanned helicopter and attitude control design

Development of a three degree-of-freedom testbed for an unma...

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Chinese Control Conference (CCC)

作者： Jianchuan Guo Bin Xian Fu Wang Xu Zhang The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

To provide a safe and efficient test for the autonomous control design of the unmanned helicopter, a 3 degree-of-freedom (DOF) helicopter testbed is developed in this paper. The testbed uses a small electric hobby helicopter as the main body, a digital signal processsor (DSP) is employed as the on-board micro control unit (MCU) for the attitude control of the helicopter, a micro attitude and heading reference system (AHRS) is utilized as the main on-board sensor for attitude states feedback and a Bluetooth module is mounted on the testbed to provide realtime wireless communication between the helicopter and the ground control station (GCS). This paper investigates the servo actuators coordinated control method with separate channel of the new-style electric helicopter, which is named as electronic collective-cyclic pitch mixing (ECCPM). A modified digital incremental PID control algorithm which is free of servo actuators saturation issue is proposed for the attitude control of the helicopter. Finally, experiment results are provided to verify the testbed and control design.

关键词： Helicopters Digital signal processing Attitude control Electronic mail Process control Educational institutions Control design

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Space Filling Curves for Coverage Path Planning with Online Obstacle Avoidance

arXiv

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arXiv 2022年

作者： Wakode, Ashay Sinha, Arpita Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi United Arab Emirates System and Controls Department Indian Institute of Technology Bombay Mumbai India

The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of interest is first tessellated, and the tiles/cells are connected using a SFC pattern. A robot follows the SFC to explore the entire area. However, obstacles can block the systematic movement of the robot. We overcome this problem by determining an alternate path online that avoids the blocked cells while ensuring all the accessible cells are visited at least once. The proposed strategy chooses next waypoint based on the graph connectivity of the cells and the obstacle encountered so far. It is online, exhaustive and works in situations demanding non-uniform coverage. The completeness of the strategy is proved and its desirable properties are discussed with examples. © 2022, CC BY.

关键词： Motion planning

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A Continuous Robust Control Design for a Class of Non-Affine Nonlinear Dynamics with Non-varnishing Disturbance

A Continuous Robust Control Design for a Class of Non-Affine...

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American Control Conference

作者： Yao Zhang Bin Xian Bo Zhao Xiang Liu Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.

关键词： Radio frequency Nonlinear dynamical systems Stability analysis Trajectory Tracking loops Control design Equations

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Data acquisition and processing of the onboard sensor system of a quadrotor unmanned aerial vehicle

Data acquisition and processing of the onboard sensor system...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning system Data acquisition Process control Attitude control Servers Automation

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