Autonomous landing of a quadrotor on a moving platform using vision-based FOFPID control

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Ali Ghasemi ◽  
Farhad Parivash ◽  
Serajeddin Ebrahimian
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Control Law ◽  
Unmanned Ground Vehicle ◽  
Autonomous Landing ◽  
Actuator Dynamics ◽  
Ground Vehicle ◽  
Vision Positioning ◽  
Aerial Vehicle ◽  
Quadrotor System

Abstract This research deals with the autonomous landing maneuver of a quadrotor unmanned aerial vehicle (UAV) on an unmanned ground vehicle (UGV). It is assumed that the UGV moves independently, and there is no communication and collaboration between the two vehicles. This paper aims at the design of a closed-loop vision-based control system for quadrotor UAV to perform autonomous landing maneuvers in the possible minimum time despite the wind-induced disturbance force. In this way, a fractional-order fuzzy proportional-integral-derivative controller is introduced for the nonlinear under-actuated system of a quadrotor. Also, a feedback linearization term is included in the control law to compensate model nonlinearities. A supervisory control algorithm is proposed as an autonomous landing path generator to perform fast, smooth, and accurate landings. On the other hand, a compound AprilTag fiducial marker is employed as the target of a vision positioning system, enabling high precision relative positioning in the range between 10 and 350 cm height. A software-in-the-loop simulation testbed is realized on the windows platform. Numerical simulations with the proposed control system are carried out, while the quadrotor system is exposed to different disturbance conditions and actuator dynamics with saturated thrust output are considered.

scholarly journals Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiao Liang ◽  
Honglun Wang ◽  
Haitao Luo
Keyword(s):  
Visual Field ◽  
Heterogeneous System ◽  
Three Dimensional ◽  
Unmanned Ground Vehicle ◽  
Worst Case ◽  
Ground Vehicle ◽  
Pursuit Evasion ◽  
Evasion Game ◽  
Evasion Strategy ◽  
Aerial Vehicle

The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

scholarly journals Editorial for the Special Issue “Estimation of Crop Phenotyping Traits using Unmanned Ground Vehicle and Unmanned Aerial Vehicle Imagery”

2020 ◽  
Vol 12 (6) ◽  
pp. 940 ◽  
Author(s):  
Xiuliang Jin ◽  
Zhenhai Li ◽  
Clement Atzberger
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Crop Production ◽  
Unmanned Ground Vehicle ◽  
Special Issue ◽  
Climate Conditions ◽  
Ground Vehicle ◽  
Global Food Security ◽  
3D Data ◽  
Potential Applications ◽  
Aerial Vehicle

High-throughput crop phenotyping is harnessing the potential of genomic resources for the genetic improvement of crop production under changing climate conditions. As global food security is not yet assured, crop phenotyping has received increased attention during the past decade. This spectral issue (SI) collects 30 papers reporting research on estimation of crop phenotyping traits using unmanned ground vehicle (UGV) and unmanned aerial vehicle (UAV) imagery. Such platforms were previously not widely available. The special issue includes papers presenting recent advances in the field, with 22 UAV-based papers and 12 UGV-based articles. The special issue covers 16 RGB sensor papers, 11 papers on multi-spectral imagery, and further 4 papers on hyperspectral and 3D data acquisition systems. A total of 13 plants’ phenotyping traits, including morphological, structural, and biochemical traits are covered. Twenty different data processing and machine learning methods are presented. In this way, the special issue provides a good overview regarding potential applications of the platforms and sensors, to timely provide crop phenotyping traits in a cost-efficient and objective manner. With the fast development of sensors technology and image processing algorithms, we expect that the estimation of crop phenotyping traits supporting crop breeding scientists will gain even more attention in the future.

An Electrohydraulic Pressure Compensation Control System for an Automotive Vane Pump Application

2020 ◽  
Author(s):  
Ryan Paul Jenkins ◽  
Monika Ivantysynova
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Automatic Transmission ◽  
Pi Control ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Vane Pump ◽  
Compensation Control ◽  
Pressure Compensation

Pressure compensated vane pumps are an excellent solution for supplying hydraulic power with minimal waste in many automotive applications. An electrohydraulic pressure compensation control system for an automatic transmission supply that promises improved pressure response times over the baseline architecture is discussed. Suggested valve specifications are determined through calculations based on available data and refined via a validated simulation model of the proposed system. Two controller designs are formulated and compared: a basic PI control law and a cascaded model following controller including a nonlinear feedback linearization component. Simulations of the proposed system for a given duty cycle reveal that the nonlinear controller provides only minor improvements over a basic PI control law and is thus not an economical solution.

Universal Navigation Algorithm Planning Platform for Unmanned Systems

2010 ◽  
Vol 164 ◽  
pp. 405-410 ◽  
Author(s):  
Raivo Sell ◽  
Priit Leomar
Keyword(s):  
Route Planning ◽  
Action Planning ◽  
Robotic Systems ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Navigation Algorithm ◽  
Vehicle Systems ◽  
Message Exchange ◽  
Aerial Vehicle ◽  
Platform Development

The paper deals with route planning and message exchange platform development for unmanned vehicle systems like Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV). Existing solutions for both types of vehicles are discussed and analyzed. Based on existing solution an unified concept is introduced. In this paper we present the study where the universal navigation algorithm planning platform is developed aiming to provide common platform for different unmanned mobile robotic systems. The platform is independent from the application and the target software. The navigation and action planning activity is brought to the abstract layer and specific interfaces are used to produce the target oriented code, describing two different test platforms are presented and co-operation scenarios.

scholarly journals Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual-inertial Approach

2021 ◽  
Author(s):  
Ching-Wei Chang ◽  
Li-Yu Lo ◽  
Hiu Ching Cheung ◽  
Yurong Feng ◽  
An-Shik Yang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Guidance System ◽  
Autonomous Landing ◽  
Ground Vehicle ◽  
Ground Station ◽  
Aerial Vehicle ◽  
Promising Solution ◽  
Marine Vessels ◽  
Long Endurance

This work aims to develop an autonomous system for the unmanned aerial vehicle (UAV) to land on a moving platform such as the automobile or marine vessels, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Different from most state-of-the-art UAV landing frameworks which rely on UAV’s onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such novel configuration can therefore lighten the burden of the UAV and computation power on the ground vehicle/marine vessel could be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted and the result shows that a precise autonomous landing on a 43 X 43 cm platform could be performed.

scholarly journals The Multi-Gas Sensor for Remote UAV and UGV Missions—Development and Tests

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7608
Author(s):  
Miron Kaliszewski ◽  
Maksymilian Włodarski ◽  
Jarosław Młyńczak ◽  
Bartłomiej Jankiewicz ◽  
Lukas Auer ◽  
...  
Keyword(s):  
Measurement Data ◽  
Fast Response ◽  
Unmanned Ground Vehicle ◽  
Long Distance ◽  
Ground Vehicle ◽  
Sensing Applications ◽  
Gas Detector ◽  
Aerial Vehicle ◽  
Gas Measurements ◽  
Gas Dilution

In this article, we present a versatile gas detector that can operate on an unmanned aerial vehicle (UAV) or unmanned ground vehicle (UGV). The device has six electrochemical modules, which can be selected to measure specific gases, according to the mission requirements. The gas intake is realized by a miniaturized vacuum pump, which provides immediate gas distribution to the sensors and improves a fast response. The measurement data are sent wirelessly to the operator’s computer, which continuously stores results and presents them in real time. The 2 m tubing allows measurements to be taken in places that are not directly accessible to the UGV or the UAV. While UAVs significantly enhanced the versatility of sensing applications, point gas detection is challenging due to the downwash effect and gas dilution produced by the rotors. In our work, we demonstrated the method of downwash effect reduction at aerial point gas measurements by applying a long-distance probe, which was kept between the UAV and the examined object. Moreover, we developed a safety connection protecting the UAV and sensor in case of accidental jamming of the tubing inside the examined cavity. The methods presented provide an effective gas metering strategy using UAVs.

scholarly journals Robotic complex for inspection of the outer surface of the aircraft in its parking lot

2020 ◽  
Vol 12 (S) ◽  
pp. 21-31
Author(s):  
Boris S. ALESHIN ◽  
Alexander I. CHERNOMORSKY ◽  
Eduard D. KURIS ◽  
Konstantin S. LELKOV ◽  
Maxim V. IVAKIN
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Outer Surface ◽  
Unmanned Ground Vehicle ◽  
Metal Fatigue ◽  
Ground Vehicle ◽  
Extreme Wind ◽  
Parking Lot ◽  
Wind Exposure ◽  
Wind Actions ◽  
Aerial Vehicle

Through-flight inspection of the outer surface of the aircraft is necessary to identify possible damage to the surface of the aircraft caused by metal fatigue, lightning, birds collision, etc. The article discusses the method of robotic inspection of the outer surface of the aircraft in its open air parking area. The robotic complex (RC) consists of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV) interconnected by a tether mechanism (TM). The algorithm of the RC functioning is presented. The main attention is paid to the formation of the TM control and the features of its work, ensuring the prevention of collisions of UAV with aircraft during extreme wind actions on UAV. The study of the most critical mode of the complex operation under extreme wind actions on an unmanned aerial vehicle is carried out. The results of modeling the typical process of the RC operation in an abnormal conditions of extreme wind exposure to UAV are presented.

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