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2022 7th International Seminar on Computer Technology, Mechanical and Electrical Engineering, ISCME 2022

作者： Yang, Dehua Pei, Hailong Weng, Zhuorong Key Lab. of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Eng. Tech. Research Center of Guangdong China South China University of Technology Guangzhou510640 China

At present, most feature-based SLAM methods are based on feature points. But in indoor environments where texture is scarce and light varies greatly, these methods will reduce the accuracy of pose estimation or even lead to pose tracking failure. To tackle the above problem, we propose an improved RGB-D SLAM method which employs point-line-plane feature extraction and matching as well as Manhattan Frames-based rotation estimation. Finally, the proposed method is proven to have good reliability and robustness in open datasets and real indoor scenes. © Published under licence by IOP Publishing Ltd.

关键词： Textures

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A Vision-Based autonomous Landing Method on Mobile Platform for UAV 42

A Vision-Based Autonomous Landing Method on Mobile Platform ...

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42nd Chinese control Conference, CCC 2023

作者： Zhu, Yongbin Pei, Hailong Wang, Liping Huang, Yuyuan Ou, Kangqi Ministry of Education Unmanned Aerial Vehicle Systems Eng.Tech. Research Center of Guangdong College of Automation Science and Engineering Key Lab of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9789887581543

As the application scenarios of multi-rotor Unmanned Aerial Vehicles (UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize the accurate autonomous landing of UAV, considering the increasingly mature visual navigation technology, this paper proposed a hierarchical landmark based on nested rectangles and its relative positioning algorithm, and designed a set of autonomous landing system for the mobile platform of quadrotor UAV. The landmark has a high recognition rate of different heights and good expansibility. The algorithm has high computational efficiency and low performance requirements for image processing equipment, thus the system has good accuracy and robustness. The simulation and flight experiment show that the proposed algorithm can effectively realize the accurate autonomous landing of UAV. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Object detection

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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A vision-based autonomous landing method on mobile platform for UAV

A vision-based autonomous landing method on mobile platform ...

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第42届中国控制会议

作者： Yongbin Zhu Hailong Pei Liping Wang Yuyuan Huang Kangqi Ou Key Lab of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Eng.Tech.Research Center of Guangdong College of Automation Science and Engineering South China University of Technology

As the application scenarios of multi-rotor Unmanned Aerial Vehicles(UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize the accurate autonomous landing of UAV, considering the increasingly mature visual navigation technology, this paper proposed a hierarchical landmark based on nested rectangles and its relative positioning algorithm, and designed a set of autonomous landing system for the mobile platform of quadrotor UAV. The landmark has a high recognition rate of different heights and good expansibility. The algorithm has high computational efficiency and low performance requirements for image processing equipment, thus the system has good accuracy and robustness. The simulation and flight experiment show that the proposed algorithm can effectively realize the accurate autonomous landing of UAV.

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A Vision-Based autonomous Landing Method on Mobile Platform for UAV

A Vision-Based Autonomous Landing Method on Mobile Platform ...

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Chinese control Conference (CCC)

作者： Yongbin Zhu Hailong Pei Liping Wang Yuyuan Huang Kangqi Ou Key Lab of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Eng.Tech. Research Center of Guangdong College of Automation Science and Engineering South China University of Technology Guangzhou China

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A High-Performance Sensor-Based control for Complex Maneuvers of Ducted Fan Unmanned Aerial Vehicles

A High-Performance Sensor-Based Control for Complex Maneuver...

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第34届中国控制与决策会议

作者： Chengji Liu Hailong Pei Zihuan Cheng Key Lab.of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Eng.Tech.Research Center of GuangdongSouth China University of Technology

This paper presents a sensor-based approach for control of ducted fan *** the inner-most loop control design that suffers from complex aerodynamics,we employ an Incremental Nonlinear Dynamics Inversion(INDI)controller such that only a simplified vehicle dynamics is needed while ensuring the robustness and response *** account for the highly coupling effects of the longitudinal dynamics,we propose a sensor-based Total Energy control System(TECS),in which we take advantage of the accelerators to obtain non-conservative forces,liberating the design from dynamics *** effectiveness of the approach is validated through simulation using a real model of a small ducted fan UAV.

关键词： Ducted Fan Aircraft Unmanned Aerial Vehicles Incremental control Total Energy control

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A Reference Nodes Selection Optimize Algorithm in Multi Robot System

A Reference Nodes Selection Optimize Algorithm in Multi Robo...

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第34届中国控制与决策会议

作者： Ye Huanting Pei Hailong Key Lab.of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Eng.Tech.Research Center of GuangdongSouth China University of Technology

Relative positioning is essential for control and coordination of multi-robot systems(MRS).For large-scale MRSs,relative positioning may consume too much computation and communication *** selecting a suitable subset of robots in the system as reference nodes(RN),the time difference of arrival(TDOA) algorithm can effectively resolve this ***,in a mobile MRS,varying topology may decrease the TDOA positioning *** paper addresses these challenges by presenting the dynamical RN selecting algorithm(DRS) in the fixed RNs amount *** algorithm updates the selection of RNs to maintain the accuracy of positioning when the topology *** prove the optimal conditions for RN selection with Cramer-Rao Lower Bound(CRLB) and propose an iterative RN selecting *** simulations indicate that our algorithm can update the selection of RNs to limit the error of TDOA measurement efficiently.

关键词： UWB TDOA

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A High-Performance Sensor-Based control for Complex Maneuvers of Ducted Fan Unmanned Aerial Vehicles

A High-Performance Sensor-Based Control for Complex Maneuver...

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Chinese control and Decision Conference, CCDC

作者： Chengji Liu Hailong Pei Zihuan Cheng Ministry of Education Unmanned Aerial Vehicle Systems Eng. Tech. Research Center of Guangdong Key Lab. of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

ISBN: (纸本)9781665478977

This paper presents a sensor-based approach for control of ducted fan UAVs. In the inner-most loop control design that suffers from complex aerodynamics, we employ an Incremental Nonlinear Dynamics Inversion (INDI) controller such that only a simplified vehicle dynamics is needed while ensuring the robustness and response time. To account for the highly coupling effects of the longitudinal dynamics, we propose a sensor-based Total Energy control System (TECS), in which we take advantage of the accelerators to obtain non-conservative forces, liberating the design from dynamics model. The effectiveness of the approach is validated through simulation using a real model of a small ducted fan UAV.

关键词： Couplings Fans control design Atmospheric modeling Aerodynamics autonomous aerial vehicles Robustness

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot

Extended State Observer Based Fault-Tolerant Predictive Cont...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Binghao Yang Dongliang Wang Ziling Wen Wu Wei Wenji Li Zhun Fan Key Lab of Digital Signal and Image Processing of Guangdong Province Shantou University Guangdong China School of Department of Electronic and Information Engineering Shantou University Guangdong China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou Guangdong China School of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

关键词： Fault tolerance Trajectory tracking Fault tolerant systems Wheels Transportation Kinematics Predictive models Safety State estimation Predictive control

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Ranging-aided relative navigation of multi-platforms

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control Theory and Technology 2018年第2期16卷 122-132页

作者： Hai-Long PEI Ruican XIA Key Lab of Autonomous Systems and Networked Control Ministry of Education China Unmanned System Engineering Center of Guangdong Province Guangzhou Guangdong 510640 China School of Automation South China University of Technology Guangzhou Guangdong 510640 China

This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba＇s Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive.

关键词： Multi-vehicles relative navigation Wahba＇s Problem pose estimation extended Kalman filter

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