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共 319 条记录，以下是231-240 订阅

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Motion Parallax Estimation for Ultra Low Altitude Obstacle Avoidance

Motion Parallax Estimation for Ultra Low Altitude Obstacle A...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Wang, Changqing Liang, Xinkai Zhang, Shan Shen, Chao Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

By making full use of the curvature of the earth and ground clutter, the ultra-low altitude flight technique can significantly increase the difficulty of detecting and intercepting unmanned aerial vehicles (UAVs), and improve their penetration probabilities. However, unpredicted static/dynamic obstacles seriously threaten the flight safety of the ultra-low altitude UAVs. Therefore, fine autonomous spatial perception capability is essential for ultra-low altitude UAVs with limited loads and computing resources to avoid obstacles. To solve the difficult problem of spatial perception for ultra-low altitude obstacle avoidance, a motion parallax estimation algorithm is proposed by combing the deep learning and the epipolar geometry in this paper. By utilizing the deep neural network, the end-to-end mapping relationship from sequence images to depth values of pixels is constructed for spatial perception. At the same time, to overcome the interference caused by the image consistency hypothesis, the loss function is constructed based on the 3D geometric information of the scene rather than the re-projection error between images. Finally, the proposed algorithm is evaluated on the KITTI dataset and infrared image dataset to verify its effectiveness and generalization. © 2019 IEEE.

关键词： Deep neural networks

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Design of Reusable Effectiveness Evaluation Model Framework

Design of Reusable Effectiveness Evaluation Model Framework

引用

Chinese control and Decision Conference, CCDC

作者： Shuang Zhang Wei Li Shenglin Lin Ming Yang Jiahui Tong Control and Simulation Center Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

In order to make the effectiveness evaluation models of the weapon equipment system universal and flexible, and adapt to different evaluation objects, a framework of effectiveness evaluation model is designed. Next a series of modular and reusable effectiveness evaluation models are proposed under the framework. Each type of evaluation model is built based on IDEF0, and the corresponding input and output of each model are designed. To further improve reusability, several models are mathematically described and model interface is designed based on XML.

关键词： Indexes Data models Data mining Analytical models Mathematical model Optimization Adaptation models

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Observability Enhancement of the Target Tracking Model Based on Infrared Semi-strapdown Seeker

Observability Enhancement of the Target Tracking Model Based...

引用

2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Siting, Peng Qian, Zhao Yichao, Ma Cheng, Xu Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

As an important device for target interception, The seeker is used to search, recognize and track the target autonomously. Infrared semi-strapdown seekers are widely used in applications due to their low cost and small size. However, one non-negligible disadvantage of semi-strapdown infrared seekers is that the observability of target tracking model is poor, especially for the interception of high-speed maneuvering weapons. In this paper, the target tracking model ( i.e., the filtering estimation model) based on the infrared simi-strapdown seeker is established. The observability of the target tracking model is analyzed and the evaluation method of the observability is studied. Simulation results show that the observability of the filtering estimation model can be improved by increasing the relative motion between missile and target which results in faster changes of the line-of-sight (LOS) angle. According to the results on the observability analysis, the desired trajectory is obtained through the design of proper guidance law. Nonlinear filtering algorithm is also introduced for the trajectory design. Simulation experiments are conducted for the integrated filtering and guidance, and simulation results illustrate the effectiveness of the proposed observability enhancement method. © 2019 IEEE.

关键词： Observability

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Cross-cycle iterative unmanned aerial vehicle reentry guidance based on reinforcement learning

Cross-cycle iterative unmanned aerial vehicle reentry guidan...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Cheng, Yang Shui, Zunshi Xu, Cheng Feng, Tianyu Jiang, Yiyang Beijing Aerospace Technology Research Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

The traditional predictive correction algorithm requires a large number of iterative calculations for the predicted trajectory, which greatly occupies a large amount of computing resources, so that the real-time solution of the guidance command can not be guaranteed, and the guidance accuracy will have a large impact. And the prediction correction guidance requires the algorithm to have the ability of selfadaptation and intelligent learning. Therefore, this paper proposes a cross-cycle iterative hypersonic UAV predictive correction guidance method based on reinforcement learning. The parametric control variable (CVP) method is used to construct the parametric model of the guidance command. The actor-critic-based reinforcement learning method is used to solve the guidance command in real time, and the guidance information is effectively transmitted in the adjacent guidance solution cycle. The guidance error converges to within the allowable accuracy range during the cross-cycle iteration. Monte Carlo simulation shows that the proposed method has good adaptability to initial conditions and flight parameter uncertainty, and can guarantee the real-time performance of the guidance command while achieving high-precision guidance. © 2019 IEEE.

关键词： Reinforcement learning

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Parameter adaptive terminal sliding mode control of flexible coupling air-breathing hypersonic vehicle

Parameter adaptive terminal sliding mode control of flexible...

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AIAA Scitech Forum, 2020

作者： Jin, Hengxian Chen, Haibing Lin, Wei Xu, Cheng School of Energy And Power Engineering Beihang University Beijing100191 China Airworthiness Technologies Research Center School of Transportation Science and Engineering Beihang University Beijing100191 China School of Transportation Science and Engineering Beihang University Beijing100191 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

Flexible air-breathing hypersonic vehicles have very wide range of flight and show significant and complex aerodynamic, scramjet propulsion system, flight dynamic and elastic coupling characteristics, which usually are highly nonlinear. These result in huge uncertainties, parameter perturbation and internal disturbance, which can no longer be ignored, and therefore, extreme difficulties for flight control design. A unique parameter adaptive nonsingular terminal sliding mode method is proposed for longitudinal control law design of a flexible coupling air-breathing hypersonic vehicle. Other than conventional adaptive terminal sliding mode control, this method uses adaptive reaching law gain instead of additional adaptive compensation term to handle the uncertainty to improve robustness. The stability of the close loop system is proved via a Lyapunov way. The longitudinal tracking control law for velocity and angle of attack is designed based on a rigid dynamic model of a flexible air-breathing hypersonic vehicle. A strong coupling model of this vehicle, considering aerodynamic-scramjet engine-flight dynamic-elastic couplings, is established as the verification platform of control law designed. The remarkable differences of flight dynamics characteristics between this strong coupling model and the rigid body model can be seen, which mean the controller needs to endure very great uncertainty, unmodeled dynamics and other internal disturbance. Simulation based on the coupling model is carried on and results demonstrate that the control law designed has good performance and acceptable robustness. © 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

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Self-Tuning Attitude control Design of Hypersonic Aircraft with Multi-Constraints Based on Soft-Constrained PI2 with Action Smooth

Self-Tuning Attitude Control Design of Hypersonic Aircraft w...

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Chinese Automation Congress (CAC)

作者： Tianyi Li Jiajun Fan Xian Guo Mingrui Hao Mingwei Sun College of Artificial Intelligence Nankai University Tianjin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Bejing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Nonlinear control has led to several great achievements for attitude control in virtual simulation environments, where the system model can be simplified to meet the application condition of those traditional nonlinear control algorithms. However, only a few of those algorithms can be applied to a practical Hypersonic Aircraft system, which suffers from uncertainties, multi-constraints, and various noises. To solve those problems effectively, in this paper, a novel reinforcement learning framework based on PI2 is proposed, wherein three kernel techniques are introduced. Firstly, a generalized path- integral-control approach is proposed to obtain the numerical solution of a stochastic dynamic model, wherein the calculation of the gradient and matrix inversion is avoided to ensure fast and reliable training convergence. Secondly, an action smooth method is used to strengthen the ability of the controller to resist noise. Thirdly, a novel RL algorithm combined with soft constrained techniques is illustrated to address the constrained nonlinear control problem. Several experiments are carried out and analyzed to demonstrate the outstanding performance of the CS-PI2.

关键词： Training Uncertainty Attitude control Atmospheric modeling Stochastic processes Resists Aircraft

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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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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Lyu, Teng Xu, Cheng Li, Hongchun Hu, Song Zhang, Daochi System Control and Intelligent Agent Cooperation Laboratory Science and Technology on Complex Beijing China Beijing Electro-mechanical Engineering Institute Beijing China

ISBN: (纸本)9781728137926

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. © 2019 IEEE.

关键词： Topology

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Study on the Modeling Method of Sip Target for Uav-borne Bi-SAR

Study on the Modeling Method of Sip Target for Uav-borne Bi-...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Guijie Diao Jia Huitong Hong Ni Zhe Liu Ningbo Gon Liang Yang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing hina Beijing Electro-mechanical Engineering Institute Beijing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

To solve the simulation problem of uav-borne bi-static synthetic aperture radar (SAR) for sea surface targets, a scattering signatures modeling method of sea-surface target for bi-static imaging radar is proposed, based on the coupling scattering mechanism between the ship and sea surface. A bistatic scattering signature signal model for sea-surface target in conjunction with high frequency asymptotic techniques for electromagnetic (EM) scattering calculation, the multi-path EM scattering model, the time-evolving complex reflection coefficient model and the ship motion dynamics. The time varying scattering signatures for a typical ship on time evolving sea-surface are simulated and analyzed.

关键词： Sea surface Imaging Radar imaging Radar scattering Reflection coefficient Marine vehicles Synthetic aperture radar

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Multi-agent Cooperative Search based on Reinforcement Learning

Multi-agent Cooperative Search based on Reinforcement Learni...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yinjiang Sun Rui Zhang Wenbao Liang Cheng Xu Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

Regional cooperative search is an important scenario for Unmanned Aerial Vehicle (UAV) fleet. It is difficult for the UAV fleet to adapt to the dynamic environment by using traditional search method, which needs pre-planning. In this paper, a reinforcement learning approach is employed to train the UAV agents to search without pre-determined strategies. By designing reward function, state and action spaces, agents can learn to make decisions all by themselves based on their own observations and cooperate with each other effectively. The proposed method is experimentally validated by numerical simulations, and the result show that the UAV fleet can complete task with a pretty high coverage and few repetitions at the same location.

关键词： Zirconium Radio frequency Hafnium Erbium

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Aircraft Autonomous Positioning Based on a Coarse to Fine Multi-modal Image Registration Scheme

Aircraft Autonomous Positioning Based on a Coarse to Fine Mu...

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Power Electronics, Computer Applications (ICPECA), IEEE International Conference on

作者： Fangde Sun Wenxing Fu Xiaohui Lu Jing Dong Songlai Han School of Aeronautics and Astronautics Central South University Changsha China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China People’s Liberation Army 91039th Unit Beijing China Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (数字)9781728190044

ISBN: (纸本)9781728190051

In this paper, an autonomous positioning method based on coarse-to-fine multi-modal image matching is proposed for UAV navigation in GPS denied environment. Coarse image matching refers to roughly determining the approximate position of the real-time image in the reference image. Fine image matching refers to iterative matching around the position obtained by coarse image matching to achieve more accurate matching results. Besides, RANSAC is adopted to eliminate the outliers of image matching. After getting the result of image matching, we use PNP to estimate the position of the aircraft. The proposed position method has the advantages of high accuracy and reliability. The experimental results show that the average error of the position of the proposed method is 59%.

关键词： Image registration Image matching Aerospace electronics Real-time systems Power electronics Reliability Aircraft

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