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检索条件"机构=Science and Technology on omplex-System Control and Intelligent-Agent Cooperation Laboratory"

共 367 条记录，以下是131-140 订阅

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An error analysis method for attitude estimation system based on epipolar geometry

An error analysis method for attitude estimation system base...

引用

2021 IEEE International Conference on Power Electronics, Computer Applications, ICPECA 2021

作者： Luo, Shilin Xu, Cheng Zhang, Lundong Dong, Jing Fu, Wenxing Han, Songlai Central South University School of Aeronautics and Astronautics Changsha China Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratary Beijing China

ISBN: (纸本)9781728190037

This paper proposes an error analysis method based on epipolar geometry which is analyzed for improving the accuracy of attitude estimation. The influence of equivalent focal length and principal point coordinates on modeling error was analyzed by simulation and experiment based on a rotary table. The result shows that the influence of the equivalent focal length will increase as the rotation angle increases, the different motion states will lead to different degrees of impact of the principal point coordinates. Besides, we derived that pose measuring accuracy is unrelated to the magnitude of rotation angle and there is no accumulative error under simulation conditions. This proposed method can enhance the measuring accuracy and provide some meaningful advice for engineering applications. © 2021 IEEE.

关键词： Computer vision

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Decoupling Design Based on Active Disturbance Rejection control Approach for Near Space Vehicle Autopilot

Decoupling Design Based on Active Disturbance Rejection Cont...

引用

Chinese intelligent systems Conference, CISC 2019

作者： Li, Hui Yin, Zhide Li, Fengyi Liu, Hongyu Beijing Electro-Mechanical Institute Beijing100074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Institute of Control and Electronic Technology Beijing100038 China

ISBN: (纸本)9789813296855

A decoupled control approach based on linear active disturbance rejection control idea is proposed. The plant model, in which the coupling dynamics is as a part of disturbance, is established, and some virtual control variables are defined. Thus the original coupling plant is divided into some single-input single-output systems and the virtual control variables are willing to be determined by linear active disturbance rejection control method, and the real control variables are easily solved from virtual control variables according to their relationship. The approach is employed to a hypersonic near space vehicle lateral autopilot. The numerical simulations show that the proposed approach has good decoupling effectiveness and guarantees angle command signal tracking accuracy. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Disturbance rejection

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An autonomous path planning method considering terrain aided navigation constraints

An autonomous path planning method considering terrain aided...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Jiang, Min Xu, Cheng Ji, Hua Wang, Yuqi Engineering Institute Beijing Electro-Mechanical Bejing China Beijing Electro-Mechanical Engineering Institute System Control and Intelligent Agent Cooperation Laboratory Science and Technology on Complex Bejing China

ISBN: (纸本)9781665465335

In order to solve the autonomous path planning problem with terrain aided navigation constraints, a navigation-first path planning method was adopted, that is, the distribution of terrain matching regions and the drift of navigation errors were given priority, and the path planning problem was transformed into the shortest path problem of single source directed graph to determine the nodes on the path. Secondly, the path planning between adjacent nodes is transformed into a path planning problem with initial direction constraint and terminal direction freedom/constraint, and the lateral path is smoothed. Finally, for the local path passing through the no-fly zone, the obstacle avoidance path planning with initial and terminal direction constraints is carried out based on convex optimization method. The simulation results show that the autonomous path planning method considering terrain aided navigation constraints can plan the shortest flight path under the constraints of navigation accuracy, maneuverability and no-fly zone. © 2022 IEEE.

关键词： Motion planning

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Research on intelligent Credibility Evaluation Method of Aircraft HWIL Simulation system Based on Complex Network 17th

Research on Intelligent Credibility Evaluation Method of Air...

引用

17th Chinese intelligent systems Conference, CISC 2021

作者： Huapin, Geng Ni, Li Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China Beijing University of Aeronautics and Astronautics Beijing China

ISBN: (纸本)9789811663192

Simulation credibility is an effective means to measure the effectiveness and correctness of simulation, and it is the cornerstone of simulation. According to the uncertainty of physical effect model and the complex interaction of model information in aircraft HWIL simulation system, The idea of time-varying directed weighted network and uncertainty measurement is introduced into the process of credibility evaluation of simulation system based on complex network and credibility evaluation theory;the credibility evaluation model of time-varying topological structure based on uncertainty measurement of model information interaction is established to quantitatively evaluate the credibility of simulation system. Taking a typical HWIL simulation system as an example, the effectiveness of the credibility evaluation method of simulation system based on complex network is fully tested. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hardware-in-the-loop simulation

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Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surface Vehicle in Marine Environment

Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surf...

引用

2020 IEEE International Conference on Information technology, Big Data and Artificial Intelligence, ICIBA 2020

作者： Qi, Xianzhi Fu, Wenxing An, Pei Wu, Bingli Ma, Jie National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100071 China

ISBN: (纸本)9781728152240

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3D LiDAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LiDAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy. © 2020 IEEE.

关键词： Wakes

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Aircraft Attitude control on High-order Fully Actuated system Theory

Aircraft Attitude Control on High-order Fully Actuated Syste...

引用

Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Xinyu Liu Mingrui Hao Yu Fan Yan Zhen Yutao Zhuang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory

In this paper, a second-order fully actuated system model is derived for a six degree of freedom aircraft model with control coupling. Then a three channel joint optimal attitude control method of roll, yaw and pitch is designed on high-order fully actuated system theory. Through mathematical simulation of this controller and the traditional PID controller, it is shown that the PID control method has a great shortage in the aircraft with control coupling, and the fully actuated system theory control method can well solve the problem of aircraft coupling, achieve the stable tracking of aircraft attitude command, and has better rapidity.

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SAR Image Registration Based on Feature Points Using Improved CSP-DenseNet 6

SAR Image Registration Based on Feature Points Using Improve...

引用

6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, Ziwei Yang, Yanjiao Qu, Guangzhou Chi, Qingxi Beijing Electro-Mechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9798350325485

Synthetic aperture radar (SAR) image registration is widely used in integrated navigation system with development of guidance system in sensors and other applications. However, there exists some difficulty because of the quality and imaginary principle of SAR images. In this article, a brand-new method based on feature points using improved CSP-DenseNet is proposed to solve the problems of SAR image registration with weak and noisy texture. Deep features of interest points in SAR images are extracted using the proposed network from the crops of search image and template image respectively. The method has an advantage of preserving abundant feature information in SAR images under the influence of insufficient image information and noise of SAR images. The CSP-DenseNet architecture has a cross-stage construction optimizing fused by CSP-Net and DenseNet to extract matching features. The network is partially connected in specific convolutional layers for feature reusing and computation resources saving. Then, Brute Force Matcher and RANSAC voting are successively applied for a larger number of matching pairs and high-precise matching vertexes. Experimental results on various SAR image matching methods show that the proposed method provides better performance than other approaches compared. © 2023 IEEE.

关键词： Synthetic aperture radar

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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...

引用

2019 IEEE International Conference on Unmanned systems, ICUS 2019

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

ISBN: (纸本)9781728137926

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. © 2019 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Experimental verification of an integrated radar communication system

Experimental verification of an integrated radar communicati...

引用

IET International Radar Conference 2018, IRC 2018

作者： Li, Zengliang Liu, Jie Yin, Ning Wang, Youcheng Beijing Institute of Electro-Mechanical Engineering Beijing100074 China Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing100074 China

With the development of modern weapon techniques, radio frequency integrated technology has attracted widespread attention as a key technology to improve the informationalised level of missiles. Radar and communication are two typical electronic types of equipment, and their integration can support and promote the development of radio frequency integrated technology. In this study, experimental verification of an integrated radar-communication system is carried out. Firstly, the key technologies to achieve radar-communication integration are theoretically analysed. The solutions of the key issues, including signal separation, time synchronisation and frequency synchronisation, are proposed. Furthermore, a radar-communication demo is implemented and the experimental verification is carried out here to verify the feasibility of the proposed methods. © This is an open access article published by the IET under the Creative Commons Attribution License (http://***/licenses/by/3.0/)

关键词： Radar

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Multi-UAV Cooperative Path-planning Under Complex Threat Environment

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

引用

第42届中国控制会议

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

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 *** 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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