Graph-SLAM Based Hardware-in-the-Loop-Simulation for Unmanned Aerial Vehicles Using Gazebo and PX4 Open Source

2019 ◽  
pp. 615-627
Author(s):  
Khoa Dang Nguyen ◽  
Trong-Thang Nguyen ◽  
Cheolkeun Ha
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Open Source ◽  
Hardware In The Loop ◽  
Aerial Vehicles ◽  
Graph Slam

scholarly journals Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Sunan Huang ◽  
Rodney Swee Huat Teo ◽  
Wenqi Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Case Studies ◽  
Collision Avoidance ◽  
Hardware In The Loop ◽  
Crucial Issue ◽  
Communication Failure ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Velocity Obstacle ◽  
Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

scholarly journals Mapping of land cover with open‐source software and ultra‐high‐resolution imagery acquired with unmanned aerial vehicles

2020 ◽  
Vol 6 (4) ◽  
pp. 487-497 ◽  
Author(s):  
Ned Horning ◽  
Erica Fleishman ◽  
Peter J. Ersts ◽  
Frank A. Fogarty ◽  
Martha Wohlfeil Zillig
Keyword(s):  
High Resolution ◽  
Land Cover ◽  
Unmanned Aerial Vehicles ◽  
Open Source ◽  
Open Source Software ◽  
Aerial Vehicles ◽  
High Resolution Imagery

Hardware-in-the-Loop Verification for Mobile Manipulating Unmanned Aerial Vehicles

2013 ◽  
Vol 73 (1-4) ◽  
pp. 725-736 ◽  
Author(s):  
Christopher Korpela ◽  
Matko Orsag ◽  
Paul Oh
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Hardware In The Loop ◽  
Aerial Vehicles

scholarly journals Automated Enemy Avoidance of Unmanned Aerial Vehicles Based on Reinforcement Learning

2019 ◽  
Vol 9 (4) ◽  
pp. 669 ◽  
Author(s):  
Qiao Cheng ◽  
Xiangke Wang ◽  
Jian Yang ◽  
Lincheng Shen
Keyword(s):  
Reinforcement Learning ◽  
Unmanned Aerial Vehicles ◽  
Function Approximation ◽  
Approximation Technique ◽  
Hardware In The Loop ◽  
Aerial Vehicles ◽  
Continuous State Space ◽  
Continuous State ◽  
Markov Decision ◽  
Avoidance Problem

This paper focuses on one of the collision avoidance scenarios for unmanned aerial vehicles (UAVs), where the UAV needs to avoid collision with the enemy UAV during its flying path to the goal point. Such a type of problem is defined as the enemy avoidance problem in this paper. To deal with this problem, a learning based framework is proposed. Under this framework, the enemy avoidance problem is formulated as a Markov Decision Process (MDP), and the maneuver policies for the UAV are learned based on a temporal-difference reinforcement learning method called Sarsa. To handle the enemy avoidance problem in continuous state space, the Cerebellar Model Arithmetic Computer (CMAC) function approximation technique is embodied in the proposed framework. Furthermore, a hardware-in-the-loop (HITL) simulation environment is established. Simulation results show that the UAV agent can learn a satisfying policy under the proposed framework. Comparing with the random policy and the fixed-rule policy, the learned policy can achieve a far higher possibility in reaching the goal point without colliding with the enemy UAV.

Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D Photogrammetry and Distributed Wind Measurement

2009 ◽  
Author(s):  
Austin M. Jensen ◽  
Daniel Morgan ◽  
YangQuan Chen ◽  
Shannon Clemens ◽  
Thomas Hardy
Keyword(s):  
Data Acquisition ◽  
Unmanned Aerial Vehicles ◽  
Open Source ◽  
Low Cost ◽  
Distributed Information ◽  
Wind Measurement ◽  
Aerial Vehicles ◽  
Multiple Uavs ◽  
3D Photogrammetry

Small, low-cost unmanned aerial vehicles (UAV) has made data acquisition more convenient and accessible for many applications. Using multiple UAVs (a coven) brings even more advantages like redundancy and distributed information. The objective of this paper is to show how a coven of UAVs can help two applications: measuring wind and 3D photogrammetry.

Unmanned Aerial Vehicles (UAV): Design Trends

2011 ◽  
Author(s):  
Devdas Shetty ◽  
Louis Manzione
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Hardware In The Loop ◽  
Design Procedures ◽  
System Survivability ◽  
Aerial Vehicles ◽  
Automation Systems ◽  
Aerial Vehicle ◽  
Major Factors ◽  
The Military

This paper looks at the trends in design procedures in Unmanned Aerial Vehicles (UAVs). Rapid advances in technology are enabling more and more capability to be placed on smaller airframes which is spurring a large increase in the number of UAVs being deployed in the army. The military role of UAV is growing at unprecedented rates. The UAV is an acronym for Unmanned Aerial Vehicle, which is an aircraft with no pilot on board. UAVs can be remote controlled aircraft (e.g. flown by a pilot at a ground control station) or can fly autonomously based on pre-programmed flight plans or more complex dynamic automation systems. A variety of design configurations are in use. The primary driving parameters in all UAVs is the need for maximizing available wing area and wing effectiveness, while minimizing the required storage volume. The major factors in determining the relative merit of the different concepts are the evaluation of structural viability, mechanical complexity and overall system survivability by G forces. This paper examines some of the design methodologies and hardware-in-the loop simulation environment to support and validate the UAV hardware and software development.

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