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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Zhou, Huan Su, Qian Fu, Wenxing Xu, Cheng Zheng, Meiyun Yang, Jingguang Aeronautical Engineering College Air Force Engineering University Xi'an China School of Astronautics Northwest Polytechnical University Xi'an China Unmanned System Research Institute Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Aviation Maintenance Sergeant School of Air Force Engineering University Xinyang China

ISBN: (纸本)9781728158594

In the process of formation cooperative autonomous flight and mission execution, multi-UAV systems have the characteristics of large disturbance, strong coupling of multi variables, high degree of uncertainty and complex cooperative factors, so there are many difficulties in the design of cooperative and intelligent control system. How to effectively develop the cooperative and intelligent technology of multi-UAV systems has become an urgent problem in the field of unmanned system and artificial intelligence. This paper first introduces the key technologies involved in UAV system at present, and then analyzes the challenges faced by the development of UAV system. Finally, it focuses on the development trend of multi-UAV systems cooperation and intelligent technology in the future. The research results have strong theoretical guidance significance for the cooperation and intelligent development of multi-UAV systems in China. © 2019 IEEE.

关键词： Flight control systems

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Vehicle detection based on point cloud intensity and distance clustering

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Journal of Physics: Conference Series 2021年第4期1748卷

作者： Zhao Wang Xing Wang Bin Fang Kun Yu Jie Ma School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China National key laboratory of multispectral information processing technology Huazhong University of Science and Technology Wuhan 430074 China Science and technology on complex system control and intelligent agent cooperation laboratory Beijing 100074 China

In the intelligent transportation system, vehicle detection is one of the essential technologies in obstacle avoidance and navigation, however the existing vehicle detection methods cannot meet the actual needs. This paper presents a vehicle detection method combines the intensity and distance information of point cloud, which improves the segmentation performance of nearby objects. Specifically, the data of point cloud collected by lidar is preprocessed first. Then the processed point cloud is clustered by combining its coordinate and intensity information. Finally, the clustered suspected targets are fed to the random forest classifier. Our method can efficiently detect and classify targets in large-scale disordered 3D point cloud with high accuracy. In the real-scanned Livox Mid-40 Lidar dataset, our proposed method improves the detection accuracy by 31% compared with the traditional Euclidean clustering.

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An Improved Robust Adaptive Kalman Filtering Algorithm

An Improved Robust Adaptive Kalman Filtering Algorithm

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第三十八届中国控制会议

作者： Liuyang Jiang Wenxing Fu Hai Zhang Zheng Li Longyun Chi School of Automation Science and Electrical Engineering Beihang University Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory National Airspace Management Center

Robust adaptive Kalman filter(RAKF) is a method that can not only compensate for the model errors but also resist the measurement outliers. The method reduces the influence of the measurement outliers on the filtering system by reducing the weight of the abnormal observation. After the processing of robust estimation, all the errors are attributed to the inaccuracy of the model. Since the robust estimation is not theoretically quantitative that it can only reduce the observation error to a certain extent, the remaining observation errors are compensated as the model errors, resulting in new estimation errors. To address this problem, a method for detecting the model error is proposed as a trigger condition for RAKF to compensate for the model error,and this constitutes an improved robust adaptive Kalman filter(IRAKF) algorithm. The new algorithm performs the model errors compensation stricter than the original method. The efficacy of the improved algorithm is demonstrated via a traffic running testing with GPS/INS tight integration navigation system. Simulation results indicate that the improved algorithm can effectively reduce the inaccurate adaptive procedure and obtain relatively accurate and stable filtering results.

关键词： Adaptive Kalman Filter Robust Estimation Improved Model Errors Tight Integrated Navigation

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Line-point feature based structure-preserving image stitching

Line-point feature based structure-preserving image stitchin...

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Chinese Automation Congress (CAC)

作者： Longyun Chi Xujun Guan Xiaorong Shen Hai Zhang School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

The naturalness of the panoramic image is an important criterion for evaluating the result of image stitching. When the overlapping region of the image has a low-texture area, the alignment is hard to accomplish due to incorrect and inadequate feature point matching pairs, and the salient structures are easily destroyed due to the unreasonable position of the optimal seam. To solve the problem, we use line segment matching information to assist the alignment of low-texture regions and use superpixel segmentation regions to filter the unreliable point correspondences. An improved seam-finding algorithm is finally used to blend images together. The experimental results demonstrate that the proposed method can get more natural stitching results.

关键词： Image segmentation Strain Feature extraction Information filters Matched filters Optimization

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Gradient-direction-based Rectangles and Triangles Traffic Signs Detection Algorithm in Natural Scenes*

Gradient-direction-based Rectangles and Triangles Traffic Si...

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Chinese Automation Congress (CAC)

作者： YanQiong Jin XuJun Guan Hai Zhang School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

In this paper, we propose a novel method to detect rectangular and triangular traffic signs in natural scenes according to the geometric features of the rectangle and triangle traffic signs. It is a Gradient-direction-based method that mainly includes four stages: gradient information classification, filter templates-based line segments with different orientation extraction, structural corners detection and rectangle/triangle detection. The extracted corners are categorized into different sets according to the orientation of the line segments, by which we can quickly extract rectangle and triangle traffic signs in image. And the experimental results demonstrate under different conditions are shown that the proposed method can detect rectangular and triangular traffic signs in natural scenes efficiently and robustness.

关键词： Image segmentation Feature extraction Image edge detection Image color analysis Detection algorithms Shape Gray-scale

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Time consistency technique of multi-aircrafts simulation system for cooperative mission

Time consistency technique of multi-aircrafts simulation sys...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jian Han Hang Shi JiaHui Tong Qing Zhang Jing Li Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

Aiming at the problem of time inconsistency problem exposed in multi-aircrafts simulation system during executing cooperative mission, a control solution of time consistency has been proposed to realize the unity of time information. On the basis of thoroughly analyzing the components and features of system, the factors that affect time synchronization are summarized and classified. After embedding a hardware of time synchronization system, a control solution is devised to maintain time consistency. Time synchronization and delay compensation are achieved from two aspects of hardware and software, which provides technical support for the following development and verification of cooperative control technology based on multiaircrafts simulation system.

关键词： Cascading style sheets Synchronization Delays Clocks Benchmark testing Delay effects

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Finite Time Cooperative Guidance Law for Multiple UAVs with Intermittent Communication Topologies

Finite Time Cooperative Guidance Law for Multiple UAVs with ...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Teng LYU Cheng XU Hongchun LI Song HU Daochi ZHANG Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137933

To solve the problem of multiple Unmanned Aerial Vehicles (UAVs) with intermittent communication topologies simultaneously attack a stationary target, a time cooperative guidance law is studied in this paper. First, a novel time cooperative guidance model for multiple UAVs is constructed based on UAVs-target relative motion equations. Then, a cooperative guidance law is designed based on consensus theory, which can ensure multiple UAVs' impact times realize finite time consensus under intermittent topologies. After UAVs' impact times become to be the same, traditional PN guidance law is applied in all UAVs to guarantee that the UAVs can attack the target precisely without influencing the consensus of impact times. Finally, the validity of the proposed method is shown by numerical simulations.

关键词： Multiple UAVs Cooperative guidance Intermittent communication topologies Finite time consensus Unmanned Aerial Vehicle Guidance

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3-D Velocity Estimation for Moving Targets Based on InISAR with Orthogonal Baselines

3-D Velocity Estimation for Moving Targets Based on InISAR w...

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International Applied Computational Electromagnetics Society Symposium (ACES)

作者： Meng Ma Guangzhou Qu Youcheng Wang Hucheng Pei Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9780996007894

ISBN: (纸本)9781728146331

In this paper, we proposed a novel approach to estimate target 3-D velocity based on InISAR system with orthogonal baselines. For targets with slow maneuverability, the target movement can be approximated to uniform linear motion during a short coherent processing interval (CPI). By introducing SAR imaging method into ISAR and utilizing the projection relationship between target velocity and the orthogonal baselines, the proposed method can obtain target 3-D velocity without radar line of sight (LOS) information. Simulation analysis verified the effectiveness of the new approach.

关键词： Imaging Estimation Radar imaging Antennas Radar tracking Doppler effect

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Zero-attracted Lorentzian Algorithm for system Identification

Zero-attracted Lorentzian Algorithm for System Identificatio...

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Progress in Electromagnetics Research Symposium - Fall (PIERS - FALL)

作者： Yanyan Wang Qingxi Chi Xin Wang Yunong Bu Xujun Guan Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (数字)9781728153049

ISBN: (纸本)9781728153056

In this paper, a zero attracted Lorentzian (ZAL) algorithm is created for system identification applications. The proposed ZAL algorithm is realized by using l 1 -norm penalty on the Lorentzian-based cost function to exploit the sparseness of the existing nature signals. Moreover, a reweighting method is adopt to enhance the ability of the proposed ZAL algorithm, and the new algorithm is called as reweighting zero attracted Lorentzian (RZAL) algorithm. The proposed algorithms are presented briefly and investigated via computer simulations. The gotten results from the simulation demonstrate that the proposed algorithms are superior to the popular adaptive filtering algorithms under alpha-stable noise interference.

关键词： Signal processing algorithms Cost function Adaptive systems Mathematical model Photonics Electromagnetics Computational modeling

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Generating infrared image from visible image using Generative Adversarial Networks

Generating infrared image from visible image using Generativ...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Lei An Jiajia Zhao Huijun Di School of Computer Science & Technology Beijing Institute of Technology Beijing China Science and Technology on Complex System Control and Intelligent Agent Coorperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137933

Infrared images have properties that are unaffected by illumination compared to visible images, object can be clearly recognized at day or night. Therefore, it is a better choice to use infrared images when training deep learning algorithms in unmanned systems. However, how to obtain a large number of infrared images makes it possible to train deep learning algorithm, which is the focus of our attention. In contrast to difficulties in direct shooting, computer simulations can generate large infrared images from visible images. But models that are trained on simulated data usually do not translate well to real scenarios. To bridge the domain gap between simulated and real infrared images, we exploit recent advances in paired image-to-image translation. We extend Pixel2Pixel to generate infrared image from visible image and propose a novel way of multilayer semantic information fusion, which significantly improves the quality of generated images. Finally, the image generated by our proposed PixelPro network is almost consistent with the real image distribution, achieved the purpose of expanding the dataset.

关键词： Image translation Infrared image Generative adversarial networks Infrared imaging Visible Imagery images Infrared radiation Information fusion

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