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Vehicle detection based on point cloud intensity and distance clustering

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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Monocular visual based obstacle distance estimation method for ultra-low altitude flight

Monocular visual based obstacle distance estimation method f...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Jin Cheng Donghui Wei Wanchun Chen Wang Gao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China School of Astronautics Beihang University Beijing China

ISBN: (纸本)9781728137933

This paper focuses on the problem of ultra-low-altitude flight obstacle distance estimation for monocular vision-assisted aircraft. First, the basic error model of distance estimation using sequence images is derived and the phenomenon of "epipole dead zone" is revealed. Then the distance estimation algorithm based on pairs of coplanar points is proposed as well as its error model. This algorithm is proved to be a solution of the "epipole dead zone" problem theoretically. Finally, numerical simulations show that the proposed distance estimation algorithm can effectively improve the accuracy of distance estimation in the "epipole dead zone".

关键词： Ultra-low altitude flight Monocular vision Distance estimation Monocular Vision error model flight altitude flight Death Dead

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A summary of the development of cooperative and intelligent technology for multi-UAV systems

A summary of the development of cooperative and intelligent ...

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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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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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Preliminary research on modeling and simulation technology of artificial intelligence system 3

Preliminary research on modeling and simulation technology o...

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2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering, IMMAEE 2018

作者： Li, Kaiyue Liu, Lei Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China

The complex system of large-scale intelligent, concurrent and polymorphic organizational structure is a hot topic in the field of simulation. Qualitative and quantitative research on such systems requires integration of related technologies in the fields of computer simulation, system theory, and artificial intelligence. Mufti-agent simulation uses system theory and Mufti-agent system modelling method to build a system high-level model, and uses the system computing model established for the simulation software and hardware support technology based on the agent model to realize the simulation. Because it can effectively deal with the interlinear, interactivity and emergence of complex systems, it is considered to be the most dynamic and breakthrough methodology for complex system simulation. Based on this paper, the concept, theoretical method, technology and application of intelligent system engineering are mainly discussed. The application of artificial intelligence in modelling and simulation is analysed with examples. © 2018 Published under licence by IOP Publishing Ltd.

关键词： system theory

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A strategy of multi-UAV cooperative path planning based on CCPSO

A strategy of multi-UAV cooperative path planning based on C...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yuanna Liu Hao Lu dept. School of Electronics and Information Northwestern Polytechnical University Xi’an China dept. Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137933

Multi-UAV cooperative formation flying has significant advantages in broadening the scope of UAV operations and improving combat effectiveness. How to realize the cooperative path planning of multi-UAV is an open issue. In order to solve the search performance degradation as dimension increases, a strategy of multi-UAV cooperative path planning based on Cooperative Coevolution Particle Swarm Optimization (CCPSO) is proposed in this paper. Firstly, the initial Dubins path is generated for each UAV in the formation, of which the longest one is selected as the reference path. Intermediate waypoints are designed to modify the initial paths to avoid collisions with obstacles. Then, CCPSO algorithm is applied to optimize path parameters and adjust the path length to be equal to the reference path to ensure time coordination. Collision avoidance between UAVs is achieved in the collaborative evaluation phase. Finally, an formation rendezvous example and comparison with CCGA are given to explain the validity and excellent search ability of the proposed method.

关键词： Path planning Optimization Particle swarm optimization Safety Unmanned aerial vehicles Collision avoidance Planning

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Study on Scattering Signature Signal Modeling Method of Sea-surface Target for Bi-static Synthetic Aperture Radar

Study on Scattering Signature Signal Modeling Method of Sea-...

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2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019

作者： Guijier, DIao Hong, Ni Yajing, Zhang Tianming, Zhan Xiaojian, Xu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Datang Mobile Communication Equipment Co. Ltd. Datang Telecom Group Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co.Ltd. Beijing China Electronic Information Engineering College Beihang University Beijing China

ISBN: (纸本)9781728123455

Based on the coupling scattering mechanism between the ship and sea surface, a scattering signature modeling method of sea-surface target for bi-static imaging radar is proposed, considering the modulation effects of sea-surface forcing to ship targets. The bi-static scattering signature signal for sea-surface target is modeled, 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. © 2019 IEEE.

关键词： Radar imaging

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A maneuvering penetration strategy via integrated flight/propulsion guidance and control method for air-breathing hypersonic vehicle

A maneuvering penetration strategy via integrated flight/pro...

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2018 IEEE CSAA Guidance, Navigation and control Conference, CGNCC 2018

作者： Xue, Kong Guodong, Ning Ming, Yang Songyan, Wang Harbin Institute of Technology Control and Simulation Center and Science and Technology Complex System Control and Intelligent Agent Cooperation Laboratory China Beijing Electro-Mechanical Institute China Harbin Institute of Technology Control and Simulation Center China

ISBN: (纸本)9781538611715

Given a maneuvering control strategy for air-breathing hypersonic vehicle, which adopt the compound integrated flight/propulsion guidance and control method, further excavation the capability of scramjet to run stable and low fuel consumption, on this basis, implement accelerate snake maneuver, improve the survival probability of weapons, guarantee the practical application ability of the project. Take one certain type of air-breathing hypersonic vehicle as an example, on the basis of an accurate simulation model, several groups of simulation analysis are carried out, the simulation results show that the method is effective and reliable. © 2018 IEEE.

关键词： Hypersonic vehicles

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Refined recognition and intelligent smart interference of radar signal

Refined recognition and intelligent smart interference of ra...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Jianquan Yuan Yunong Bu Shuyuan Yang Qingxi Chi Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China Xidian University Xi’an China

ISBN: (纸本)9781728137933

Facing the complex electromagnetic environment on the battlefield, how to effectively identify important radar signals by jammers and how to implement strong and effective electromagnetic interference to the enemy's huge radar detection system under the condition of limited jamming resources will be the difficult problems that need to be solved continuously in the electronic warfare field. The solution of these problems will be the premise of effective interference for wartime jammers. In this paper, the technical gap of traditional jammers is analyzed. For radar signal perception, a refined perception and recognition method is proposed, forming the algorithm idea of multi-scale feature extraction and recognition based on radar fingerprint and multi-channel integrated multi-label recognition and classification based on radar radiation source. For interference implementation, the idea of smart interference based on deep GAN is put forward, laying the ground for further research on cognitive electronic warfare.

关键词： Cognitive electronic warfare Smart interference Wartime application RADAR SIGNALS jammers Recognition (Psychology) Electromagnetic environments Electromagnetic fields electronic warfare PROBLEM SOLUTION PREMISES interference interference Battlefields

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Distributed cooperative guidance for maneuvering targets with directed conmunication topologies

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Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2020年 41卷

作者： Dong, Xiaofei Ren, Zhang Chi, Qingxi Li, Qingdong School of Automation Science and Electrical Engineering Beihang University Beijing100083 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100083 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100083 China

This paper studies the distributed cooperative guidance for maneuvering targets with directed communication topologies. First, a guidance system model is established based on the geometric relationship between the aircraft and the target, in which the nonlinear problem is solved by feedback linearization. In this design, the unknown maneuver of the target is observed by the extended state observer, and the estimation of the unknown maneuver of the target is applied to the design of the guidance law. In this process, the influence of the target maneuvering on the time-to-go is eliminated by means of direct compensation. Then, the designed guidance law is brought into the guidance model, transforming the problem of cooperative guidance into the problem of consensus. Next, the necessary and sufficient conditions for the convergence of the designed cooperative guidance law are obtained by conducting the pole analysis. Finally, the designed cooperative guidance law and the method of the parameter selection are analyzed by adopting the simulation analysis. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.

关键词： State estimation

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