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检索条件"机构=Science and Technology on Complex System Control and Intelligent Agent Coopration Laboratory"

共 456 条记录，以下是151-160 订阅

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Improved RRT Autonomous Exploration Method Based on Hybrid Clustering Algorithm

Improved RRT Autonomous Exploration Method Based on Hybrid C...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Yin, Yizhen Ma, Hongjun Liang, Xinkai College of Information Science and Engineering Northeastern University Liaoning Shenyang China Science and Technology On Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

In autonomous robot exploration, it is very important that the robot can autonomously plan the exploration path of the unknown environment and create a map representation of the surrounding environment. In the robot's autonomous environment traversal method, one branch is the frontier-based detection method. This method consumes more and more computing resources as the map expands and is not suitable for large-scale environment detection. Another branch is the random exploration method based on multiple rapidly-exploring randomized trees. This method uses the edge of the tree to search for the boundary, but the selection of the next exploration point is very demanding. This paper proposes an exploration point selection strategy based on the hybrid clustering method, which speeds up the RRT exploration method. Simulation experiments show that the improved RRT exploration method proposed in this paper takes less time to explore and build maps, especially in a large-scale mapping environment, which effectively improves the completeness and efficiency of mapping. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cluster analysis

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Research on UAV Detection technology of Gm-APD Lidar Based on YOLO Model

Research on UAV Detection Technology of Gm-APD Lidar Based o...

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2021 IEEE International Conference on Unmanned systems, ICUS 2021

作者： DIng, Yuanxue Qu, Yanchen Zhang, Qing Tong, Jiahui Yang, Xianhui Sun, Jianfeng Harbin Institute of Technology National Key Laboratory of Science and Technology on Tunable Laser Institution of Opto-Electronics Harbin China Beijing Electromechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9780738146577

In recent years, unmanned aerial vehicle (UAV) technology has developed rapidly, which plays an important role in both military and civil fields. While it brings convenience to all walks of life, there are also a lot of security problems. Therefore, it is necessary to study anti-UAV technology, but the detection of UAV is an important basis of anti-UAV technology. In this paper, by combining the three-dimensional range profile collected by Gm-APD (Geiger mode Avalanche Photo Diode) lidar with the deep learning method, a UAV detection method based on the improved YOLOv3 (You Only Look Once v3) network is proposed. Firstly, the data of UAV in low altitude real scene is collected by Gm-APD lidar, and range profile information is generated. Then, the YOLOv3 network is improved, and the SPP module can be added to combine the local features of the target with the global features to improve the detection accuracy. It is suitable for the detection of UAVs. Finally, the trajectory of the UAV is drawn based on the distance information. The experimental results show that the improved method can effectively detect UAV targets, and is better than the previous method, YOLOv3-Tiny method and YOLOv4 method. The farthest detection distance is 238m, the detection speed is fast, and the purpose of real-time detection and positioning can be achieved. Therefore, this method can be applied to anti-UAV technology and has important research significance. © 2021 IEEE.

关键词： Optical radar

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A Stable and Symmetric FDTD Subgridding Method with Arbitrary Grid Ratio

A Stable and Symmetric FDTD Subgridding Method with Arbitrar...

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2023 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio science Meeting, AP-S/URSI 2023

作者： Deng, Langran Gong, Ningbo Diao, Guijie Yang, Shunchuan Research Institute for Frontier Science Beihang University Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China

ISBN: (纸本)9781665442282

A stable and symmetric finite-difference time-domain (FDTD) subgridding method is proposed to effectively and accurately solve the three-dimensional electromagnetic prob-lems. The linear interpolation coefficient (LIC) and the length cutoff coefficient (LCC) are carefully designed to guarantee the stability of the proposed method. In addition, the proposed method is applicable to arbitrary grid ratios and nested meshes. A practical multiscale example is used to validate its accuracy and efficiency. © 2023 IEEE.

关键词： Finite difference time domain method

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Semi-autonomous Multicopter Formation control Under One Remote Pilot in GPS-Denied Environment

Semi-autonomous Multicopter Formation Control Under One Remo...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Gao, Yan Wei, Donghui Bai, Chenggang Quan, Quan School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9789811694912

The multicopter formation is widely used in many different complex circumstances. And the semi-autonomous multicopter formation controlled with a single pilot on the ground draws people’s attention due to the great adaptability to various kinds of environments. In this paper, we focus on the problem of passing through narrow channels with semi-autonomous multicopter formation. Similar to the definition for a single multicopter, the altitude hold mode for the multicopter formation is defined first. Then, the formation decision-making and formation low-level control of the altitude hold mode are proposed one by one. Finally, a hardware-in-the-loop simulation and a real experiment are performed with four multicopters to pass through a narrow channel. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Decision making

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Distributed Finite-Time Cooperative Guidance Against a Moving Target: A Finite-Time Observer Approach

Distributed Finite-Time Cooperative Guidance Against a Movin...

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2021 IEEE International Conference on Unmanned systems, ICUS 2021

作者： Xiaofei, Dong Zhang, Ren School of Automation Science and Electrical Engineering Beihang University Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9780738146577

This paper investigates the cooperative guidance issue for multiple unmanned aerial vehicles (UAVs) for simultaneous attacks on maneuvering targets with a prescribed angle formation. Each UAV is accessible to the relative information with respect to the target while the absolute information of the target is unavailable. Also, each UAV just interacts with its neighbors locally. By introducing the integral sliding mode technique, a finite-time observer for the exact estimation of the absolute information of the target is designed. With the help of such an observer, a distributed cooperative guidance algorithm is developed such that both the time-to-go estimate consensus and angle formation objectives are achieved in finite time given that the undirected graph is connected. Finally, a simulation example is presented to validate the efficiency of the suggested guidance algorithm. © 2021 IEEE.

关键词： Antennas

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Improved A∗Algorithm based on Multi-Layers and Multi-Constraints 23

Improved A∗Algorithm based on Multi-Layers and Multi-Constr...

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4th International Conference on Artificial Intelligence in Electronics Engineering, AIEE 2023

作者： Han, Jian Zhou, Lili Tong, Jiahui Sun, Shiguo Hou, Mingyun Beijing Electro-Mechanical Engineering Institute China and Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781450399517

In this study, an improved A∗algorithm based on multi-layers and multi-constraints is proposed for solving the problem that A∗algorithm must detour when encounters obstacles due to the deficiency of vertical dimension. Detailed obstacle classification and shift method among layers are introduced to make the mathematical environment closer to the real environment and support the calculation of proposed cost function. In the procedure of planning, more interested points are taken into consideration to increase the opportunity of find more reasonable path and achieve lower route cost during approaching the target. Shared forbidden area and shift cost mechanism are set to make sure the trend is right without shift too often. The improved algorithm can provide a better and flexible solution to cross obstacles other than make a detour, so the optimal route find by it has a shorter length than that by the traditional one. © 2023 ACM.

关键词： Cost functions

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Distance estimation of obstacles in monocular vision based on deep learning 8

Distance estimation of obstacles in monocular vision based o...

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8th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Shan, Liu Ming, Li Long Hui, Wei Dong Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China China Aerospace Science and Industry Corporation Limited Beijing100048 China

ISBN: (数字)9781510653122

ISBN: (纸本)9781510653115

Aiming at the forward-looking distance perception requirements of obstacles such as mountains, forests and trees during the ultra-low-altitude flight of subsonic aircraft, an obstacle distance estimation method based on deep learning is proposed. Firstly, the relationship between adjacent hyper-pixels is modeled by the conditional random fields, the neural network model is trained using the data set, and then the loss function of the pose parameter regression is designed, and the representation of the neural network model is input to the constructed loss function to optimize the weight of the regression model. Simulation experiments show that the proposed method can effectively perceive obstacles within 3km ahead, and the distance estimation error is not more than 20% of the relative distance, which can meet the obstacle avoidance requirements of most sudden obstacles during ultra-low-altitude flight. © 2022 SPIE

关键词： Vision

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Aircraft control Method Based on Deep Reinforcement Learning

Aircraft Control Method Based on Deep Reinforcement Learning

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Data Driven control and Learning systems (DDCLS)

作者： Yan Zhen Mingrui Hao Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing

ISBN: (数字)9781728159225

ISBN: (纸本)9781728159232

To address the failure of precise overload tracking and anti-interference caused by the difficulty of accurate modeling of a complex aircraft, the controller designing method based on deep reinforcement learning is studied. This paper trained the control network based on the Proximal Policy Optimization (PPO), studied the tracking control problem of the aircraft, and accurately tracked the typical command signals. Fixed-point simulation of the aircraft is performed, with results showing that, in presence of aircraft model parameter variation and external disturbance, the controller based on deep reinforcement learning can achieve accurate tracking of overload commands.

关键词： Aircraft Reinforcement learning Aerospace control Atmospheric modeling Aerodynamics Mathematical model Heuristic algorithms

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Multi-UAV Cooperative Path-Planning Under complex Threat Environment

Multi-UAV Cooperative Path-Planning Under Complex Threat Env...

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Chinese control Conference (CCC)

作者： Zhenchang Liu Yuting Liu Hongyin Zhao Hanchen Lu Mingrui Hao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing

This paper proposes a cooperative path-planning method based on multi-Dubins path segments to meet the penetration requirements of UAVs in a complex threat environment. A pruning strategy is used in path-planning to sift path segments, and the diversity of threat avoidance paths is considered under a reasonable calculation amount. A threat intrusion strategy is designed for no safety path condition, which makes the cooperative path-planning method have excellent robustness. A cooperative path optimization method based on particle swarm optimization is adopted for the path length and collision avoidance requirements. The simulation results show that the UAV cooperative paths can avoid the threat area under any starting and ending points, and path lengths are close to the expected length.

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UAV Decision-making system Based on the Rough Set theory and the Optimal Genetic Algorithm

UAV Decision-making System Based on the Rough Set theory and...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Wendi Sun Mingrui Hao Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

Air combat decision-making is a critical issue in Unmanned Air Vehicle automatic combat. Precise and efficient maneuvering strategies are extremely important for the final victory. Quantitative research has been conducted on the maneuver strategy. In this study, a knowledge-based maneuver action library for air combat was established by the Rough Set Theory, which can help quick response to the battlefield situation. Since not all influence factors of battlefield situation are that significant and the computing source is finite, the rough set model was simplified to increase reaction rate. This paper introduced an advanced genetic algorithm to reduce the attributes of rough sets, taking the purity of each attribute into account, so as to make the condition attribute as close to 1 or 0 as possible. As a result, the reducing accuracy of the whole decision-making system is improved. The simulation results show that the rough set model built in this paper is efficient, feasible and reasonable, and the algorithm can support the air combat maneuver strategy decision system.

关键词： intelligent agents Conferences complex systems systems simulation Rough sets Power system dynamics intelligent control

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