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IEEE International Conference on Unmanned systems (ICUS)

作者： Kang Wang Jiajia Zhao Yang Wang Shuigeng Zhou Shanghai Key Lab of Intelligent Information Processing and School of Computer Science Fudan University Shanghai China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineer Institute Beijing China School of Information Engineering Nanchang University China

ISBN: (纸本)9781728137933

Recent object detection models have achieved satisfactory performance by deep learning with large-scale annotated datasets. However, these models often perform poorly when the training examples are not sufficient enough, especially for one-shot object detection where there is only one training example of each target class. In this paper, we propose a network parameter generation framework for effective one-shot object detection. By leveraging the semantic relationship between the source-domain and the target-domain (new classes), our framework can generate network parameters for the new classes directly. Furthermore, we develop two implementation schemes for this framework: weighting-based parameter generation and regression-based parameter generation. These two schemes use different information to construct the relationship and transfer knowledge from the source-domain to the target-domain. Experiments on the PASCAL-OSCD benchmark show that our methods can significantly boost the performance of one-shot object detection.

关键词： Object detection Detectors Head Training Feature extraction Task analysis Training data

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A Study on The Modified Proportional Guidance of LOS Angle Acceleration

A Study on The Modified Proportional Guidance of LOS Angle A...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Xingan Li Cheng Xu Di Zhang Wenxing Fu Meiyun Zheng Xiaofei Chang School of Astronautics Northwestern Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Shanghai Academy of Spaceflight Technology Shanghai China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China School of Marine Science and Technology Northwestern Polytechnical University Xi'an China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

Because of the increasing mobility of air targets and the trend of heavy using of UAV in the future, the paper analyzes the parameters and ballistic characteristics of the proportional guidance method based on the revised idea of proportional guidance. The method has certain defects in the face of high maneuvering targets, so we have derived a kind of modified proportional guidance law, and designed a new modified proportional guidance law which can effectively overcome the target maneuvering interference. The digital simulation results show that the modified guidance law can effectively overcome the interference factors such as target maneuvering, and it is easy to implement in engineering.

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Optimization of Missile Path Planning Based on APMO-HV Algorithm

Optimization of Missile Path Planning Based on APMO-HV Algor...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Hu Zhang Shuai Wang Tonglin Liu Aimin Zhou Yi Zhang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-mechanical Engineering Institute Beijing China School of Mechanical Engineering Changzhou University Changzhou China Shanghai Key Laboratory of Multidimensional Information Processing School of Computer Science and Technology East China Normal University Shanghai China

In this paper, with considerations of low efficiency of missile path planning (MPP) by traditional aggregation technology, it uses affinity propagation based multi-objective evolutionary algorithm with hypervolume environment selection (APMO-HV) to solve the problem of MPP after establishing the MPP model. The experimental part compares and analyzes APMO-HV with six state-of-the-art algorithms, and applies it to address the MPP problem. The experimental results show that compared with the other six algorithms, APMO-HV has achieved the best solution performance in both the GLT test suite and MPP problem. This not only validates the effect of the proposed algorithm, but also enriches and improves the research results of MPP.

关键词： Missiles Optimization Path planning Turning Planning Target tracking Sociology

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Research on guidance method based on angle description

Research on guidance method based on angle description

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Chinese Automation Congress (CAC)

作者： Hui Wang Ruiming Hao Yan Zhen Wugang Wang Yong Wei School of Aerospace Engineeringline Beijing Institute of Technology Beijing China Science and technology on complex system control and intelligent agent cooperation laboratory Beijing China Northwest Industries Group Co.LTD Xian China 672 Test Ground Hua An Industry Group Co. LTD Qiqihaer China

Based on the derivation of optimal proportional navigation, the new expressions with line of sight angle and trajectory angle for proportional navigation, integral proportional navigation and velocity pursuit are proposed. The guidance model with initial heading error is developed when considering a high order dynamics system for the integral proportional navigation and velocity pursuit. Comparative analysis results of miss distance demonstrate the guidance performance of integral proportional navigation and velocity pursuit.

关键词： Navigation Trajectory Missiles Mathematical model Analytical models Acceleration

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Cooperative Collision Avoidance Method for Multi-UAV Based on Kalman Filter and Model Predictive control

Cooperative Collision Avoidance Method for Multi-UAV Based o...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Hanqiao Huang Huan Zhou Meiyun Zheng Cheng Xu Xiaofeng Zhang Wei Xiong Unmanned System Research Institute Northwest Polytechnical University Xi'an China Aeronautical Engineering College Air Force Engineering University Xi'an China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China UAV Researc Center Army Aviation Institute Beijing China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

Collision avoidance is the primary problem to be solved in formation flight of multiple Unmanned aerial vehicles(UAVs). Firstly, a cooperative collision avoidance architecture of multiple UAVs is designed according to the requirement of autonomous collision avoidance of single UAV. Then a new cooperative collision avoidance method of multiple UAVs based on Kalman filter and model predictive control(MPC) is proposed. In this method, extended Kalman filter(EKF) is used to estimate the state of obstacles and target points in uncertain environment space, and to predict the trajectory of obstacles and target points. At the same time, relevant performance index functions and constraints are set up. On the basis of sharing environmental information, model predictive control strategy is used to guide and make cooperative collision avoidance decisions for multiple UAVs. The simulation results show that the proposed method is effective in uncertain environment perception and UAV collision avoidance, and the cooperative mechanism has obvious advantages.

关键词： UAV cooperative decision collision avoidance Kalman filter state estimation MPC Collision avoidance Kalman filters Unmanned Aerial Vehicle State estimation Maximum Allowable Concentration drone honey bees environmental perception Formation flight

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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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International Conference on Unmanned systems and Artificial Intelligence

作者： Huan Zhou Qian Su Wenxing Fu Cheng Xu Meiyun Zheng Jingguang Yang 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: (数字)9781728158594

ISBN: (纸本)9781728158600

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.

关键词： Multi-UAVs cooperation intelligence uncertainty formation Intelligence Uncertainty intelligent control system formation Future technologies Unmanned Aerial Vehicle drone honey bees Key technology

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A Variational Bayesian Labeled Multi-Bernoulli Filter for Tracking with Inverse Wishart Distribution

A Variational Bayesian Labeled Multi-Bernoulli Filter for Tr...

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International Conference on Information Fusion

作者： Jinran Wang Zhongliang Jing Peng Dong Jin Cheng School of Aeronautics and Astronautics Shanghai Jiao Tong University Shanghai China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-mechanical Engineering Institute Beijing China

In multi-target tracking (MTT), the imprecise model for sensor characteristics might result in poor performance. The Variational Bayesian labeled multi-Bernoulli (VB-LMB) filter based on Gamma distribution can handle this problem. However, the predictive likelihood of the existing VB-LMB filter is simply treated as a Gaussian, which is inaccurate. In this paper, a VB-LMB filter with inverse Wishart distribution is presented to perform MTT under the unknown sensor characteristics. The measurement noise covariance is modeled as an inverse Wishart (IW) distribution. This distribution has potential to deal with the full noise covariance matrix compared with the Gamma distribution. Since the state and the measurement noise covariance are coupled, the updated equation can be solved by variational Bayesian (VB) method. The predictive likelihood is calculated via minimizing the Kullback-Leibler divergence by the VB lower bound. A MTT scenario is used to evaluate the proposed method. Simulation results show that our approach has better performance than the existing VB-LMB filter with the Gamma distribution.

关键词： Radio frequency Noise measurement Bayes methods Covariance matrices Target tracking Extraterrestrial measurements

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A Cooperative Route Planning Method for Multi-UAVs Based-on the Fusion of Artificial Potential Field and B-spline Interpolation

A Cooperative Route Planning Method for Multi-UAVs Based-on ...

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Chinese control Conference (CCC)

作者： Wenbin Bai Xiande Wu Yaen Xie Yu Wang Han Zhao Kefan Chen Yong Li Yong Hao College of Aerospace and Civil Engineering Harbin Engineering University Harbin China College of Automation Harbin Engineering University Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Qian Xuesen Laboratory of Space Technology Beijing China

This paper deals with the route planning problem for multi-UAVs formation. It provides a method of improved artificial potential field by introducing a longitudinal random factor and B-spline interpolation. The longitudinal random factor is used to solve the problem of falling into local minimum, when the B-spline interpolation is used to smooth the planned route. The simulated results show that the proposed method can solve the route planning problem of multi-UAVs.

关键词： Planning Force Space missions Splines (mathematics) Interpolation Heuristic algorithms Unmanned aerial vehicles

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Preliminary research on modeling and simulation technology of artificial intelligence system

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IOP Conference Series: Materials science and Engineering 2018年第4期452卷

作者： Kaiyue Li Lei Liu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing 100074 China. Beijing Electro-Mechanical Engineering Institute Beijing 100074 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.

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