In this paper, we present a trajectory generation method for quadrotor while tracking a moving target with relative pattern. Compared to existing methods, safe flying zone, vehicle’s physical limits and smoothness ar...
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In this paper, we present a trajectory generation method for quadrotor while tracking a moving target with relative pattern. Compared to existing methods, safe flying zone, vehicle’s physical limits and smoothness are considered to ensure obstacles avoidance and real tracking flight. To tackle with the cluttered environment, a parallel Particle Swarm Optimization algorithm is applied to calculate the safe feasible waypoints for quadrotor with consideration of target’s predicted state and the realistic tracking pattern, as well as safety. Then, a multiple waypoints constraints motion planning method is applied and embed into a cost function for solving the problem of trajectories generation and robust tracking for quadrotor via convex optimization approach, ensuring the real-time planning, with the geometrical constraint of safe flight corridor for quadrotor. The effectiveness of proposed method is verified by numerical simulation experiments.
The research of image deblurring plays an important role in the digital image *** order to reduce image blurring problems,a content constraint loss(CCL) function in the generative adversarial network(GAN)is *** SS...
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The research of image deblurring plays an important role in the digital image *** order to reduce image blurring problems,a content constraint loss(CCL) function in the generative adversarial network(GAN)is *** SSIM loss and the perceptual loss constitute the CCL function,which makes the trained generative model *** CCL function as the content constraint loss component and the adversarial loss component constitute the total *** total loss is optimized by the iterative training to further improve the stability of the network model,and the image blurring will be *** the test experiment of the open source image dataset MNIST,CIFAR10/100 and CELEBA,the CCL function is used as the content constraint loss component of the generative adversarial network,the effect of image deblurring has obvious promotion in the structural similarity measure and visual appearance.
作者:
Xie, YuanZou, TaoChen, CiSun, WeijunXie, ShengliSchool of Mechanical and Electrical Engineering
Guangzhou University Guangdong-Hong Kong-Macao Key Laboratory of Multi-scale Information Fusion and Collaborative Optimization Control of Complex Manufacturing Process Guangzhou510006 China School of Automation
Guangdong University of Technology Joint International Research Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education of the P.R.C. Guangzhou510006 China School of Automation
Guangdong University of Technology Guangdong Key Laboratory of IoT Information Processing Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China School of Automation
Guangdong University of Technology Key Laboratory of Intelligent Detection and the IoT in Manufacturing Ministry of Education 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangzhou510006 China
Blind source separation with high reverberation and echoes is an open and extremely challenging issue. Room reverberation and echoes have an important influence on acoustics quality, causing great difficulty in indepe...
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Segmenting accurate thyroid nodules in medical ultrasound images is always non-trivial due to the large variation in size, shape and texture of nodules, and also the presence of surrounding tissues and organs with sim...
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作者:
Xie, YuanZou, TaoChen, CiSun, WeijunXie, ShengliSchool of Mechanical and Electrical Engineering
Guangzhou University Guangdong-Hong Kong-Macao Key Laboratory of Multi-scale Information Fusion and Collaborative Optimization Control of Complex Manufacturing Process Guangzhou510006 China School of Automation
Guangdong University of Technology Joint International Research Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education of the P.R.C. Guangzhou510006 China School of Automation
Guangdong University of Technology Guangdong Key Laboratory of IoT Information Processing Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China School of Automation
Guangdong University of Technology Key Laboratory of Intelligent Detection and the IoT in Manufacturing Ministry of Education 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangzhou510006 China
Blind source separation with high reverberation and echoes is an open and extremely challenging issue. Room reverberation and echoes have an important influence on acoustics quality, causing great difficulty in indepe...
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This paper explores the size-invariance of evaluation metrics in Salient Object Detection (SOD), especially when multiple targets of diverse sizes co-exist in the same image. We observe that current metrics are size-s...
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Dear editor,Generally, one of the most prominent features of modern industrial systems is the massive amount of data collected from various sensors, which poses great challenges to traditional methods of captur-
Dear editor,Generally, one of the most prominent features of modern industrial systems is the massive amount of data collected from various sensors, which poses great challenges to traditional methods of captur-
This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked controlsystems (NCSs). The limits of tracking performance (TP) under the influences of bandw...
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This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked controlsystems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions.
Driven by advancements in photovoltaic (PV) technology, solar energy has emerged as a promising renewable energy source, due to its ease of integration onto building rooftops, facades, and windows. For the emerging ci...
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In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on poin...
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ISBN:
(数字)9781728186351
ISBN:
(纸本)9781728186368
In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.
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