Trajectory control of unmanned aerial vehicle using neural nets with a stable learning algorithm

2009 ◽  
Author(s):  
Andon Topalov ◽  
Nikola Shakev ◽  
Severina Nikolova ◽  
Dobrin Seyzinski ◽  
Okyay Kaynak
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Learning Algorithm ◽  
Trajectory Control ◽  
Neural Nets ◽  
Aerial Vehicle ◽  
Stable Learning

scholarly journals Road Extraction from Unmanned Aerial Vehicle Remote Sensing Images Based on Improved Neural Networks

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4115 ◽  
Author(s):  
Yuxia Li ◽  
Bo Peng ◽  
Lei He ◽  
Kunlong Fan ◽  
Zhenxu Li ◽  
...  
Keyword(s):  
Neural Network ◽  
Remote Sensing ◽  
Neural Networks ◽  
Unmanned Aerial Vehicle ◽  
Computational Efficiency ◽  
Neural Nets ◽  
Road Extraction ◽  
Remote Sensing Images ◽  
Feature Maps ◽  
Aerial Vehicle

Roads are vital components of infrastructure, the extraction of which has become a topic of significant interest in the field of remote sensing. Because deep learning has been a popular method in image processing and information extraction, researchers have paid more attention to extracting road using neural networks. This article proposes the improvement of neural networks to extract roads from Unmanned Aerial Vehicle (UAV) remote sensing images. D-Linknet was first considered for its high performance; however, the huge scale of the net reduced computational efficiency. With a focus on the low computational efficiency problem of the popular D-LinkNet, this article made some improvements: (1) Replace the initial block with a stem block. (2) Rebuild the entire network based on ResNet units with a new structure, allowing for the construction of an improved neural network D-Linknetplus. (3) Add a 1 × 1 convolution layer before DBlock to reduce the input feature maps, reducing parameters and improving computational efficiency. Add another 1 × 1 convolution layer after DBlock to recover the required number of output channels. Accordingly, another improved neural network B-D-LinknetPlus was built. Comparisons were performed between the neural nets, and the verification were made with the Massachusetts Roads Dataset. The results show improved neural networks are helpful in reducing the network size and developing the precision needed for road extraction.

Automated Safety Diagnosis Based on Unmanned Aerial Vehicle Video and Deep Learning Algorithm

2020 ◽  
Vol 2674 (8) ◽  
pp. 350-359
Author(s):  
Yina Wu ◽  
Mohamed Abdel-Aty ◽  
Ou Zheng ◽  
Qing Cai ◽  
Shile Zhang
Keyword(s):  
Deep Learning ◽  
Unmanned Aerial Vehicle ◽  
Traffic Safety ◽  
Learning Algorithm ◽  
Tracking Algorithm ◽  
Identification System ◽  
Deep Learning Algorithm ◽  
Vehicle Trajectories ◽  
Aerial Vehicle ◽  
Safety Diagnosis

This paper presents an automated traffic safety diagnostics solution named “Automated Roadway Conflict Identification System” (ARCIS) that uses deep learning techniques to process traffic videos collected by unmanned aerial vehicle (UAV). Mask region convolutional neural network (R-CNN) is employed to improve detection of vehicles in UAV videos. The detected vehicles are tracked by a channel and spatial reliability tracking algorithm, and vehicle trajectories are generated based on the tracking algorithm. Missing vehicles can be identified and tracked by identifying stationary vehicles and comparing intersect of union (IOU) between the detection results and the tracking results. Rotated bounding rectangles based on the pixel-to-pixel manner masks that are generated by mask R-CNN detection are introduced to obtain precise vehicle size and location data. Based on the vehicle trajectories, post-encroachment time (PET) is calculated for each conflict event at the pixel level. By comparing the PET values and the threshold, conflicts with the corresponding pixels in which the conflicts happened can be reported. Various conflict types: rear-end, head on, sideswipe, and angle, can also be determined. A case study at a typical signalized intersection is presented; the results indicate that the proposed framework could significantly improve the accuracy of the output data. Moreover, safety diagnostics for the studied intersection are conducted by calculating the PET values for each conflict event. It is expected that the proposed detection and tracking method with UAVs could help diagnose road safety problems efficiently and appropriate countermeasures could then be proposed.

scholarly journals Heuristic Q-learning based on experience replay for three-dimensional path planning of the unmanned aerial vehicle

2019 ◽  
Vol 103 (1) ◽  
pp. 003685041987902 ◽  
Author(s):  
Ronglei Xie ◽  
Zhijun Meng ◽  
Yaoming Zhou ◽  
Yunpeng Ma ◽  
Zhe Wu
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Unmanned Aerial Vehicle ◽  
Learning Algorithm ◽  
Three Dimensional ◽  
Convergence Speed ◽  
Average Reward ◽  
Heuristic Function ◽  
Experience Replay ◽  
Aerial Vehicle

In order to solve the problem that the existing reinforcement learning algorithm is difficult to converge due to the excessive state space of the three-dimensional path planning of the unmanned aerial vehicle, this article proposes a reinforcement learning algorithm based on the heuristic function and the maximum average reward value of the experience replay mechanism. The knowledge of track performance is introduced to construct heuristic function to guide the unmanned aerial vehicles’ action selection and reduce the useless exploration. Experience replay mechanism based on maximum average reward increases the utilization rate of excellent samples and the convergence speed of the algorithm. The simulation results show that the proposed three-dimensional path planning algorithm has good learning efficiency, and the convergence speed and training performance are significantly improved.

scholarly journals Learning Control of Fixed-Wing Unmanned Aerial Vehicles Using Fuzzy Neural Networks

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Erdal Kayacan ◽  
Mojtaba Ahmadieh Khanesar ◽  
Jaime Rubio-Hervas ◽  
Mahmut Reyhanoglu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Unmanned Aerial Vehicle ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Learning Control ◽  
Fuzzy Neural Networks ◽  
Aerial Vehicles ◽  
Fuzzy Neural ◽  
Aerial Vehicle

A learning control strategy is preferred for the control and guidance of a fixed-wing unmanned aerial vehicle to deal with lack of modeling and flight uncertainties. For learning the plant model as well as changing working conditions online, a fuzzy neural network (FNN) is used in parallel with a conventional P (proportional) controller. Among the learning algorithms in the literature, a derivative-free one, sliding mode control (SMC) theory-based learning algorithm, is preferred as it has been proved to be computationally efficient in real-time applications. Its proven robustness and finite time converging nature make the learning algorithm appropriate for controlling an unmanned aerial vehicle as the computational power is always limited in unmanned aerial vehicles (UAVs). The parameter update rules and stability conditions of the learning are derived, and the proof of the stability of the learning algorithm is shown by using a candidate Lyapunov function. Intensive simulations are performed to illustrate the applicability of the proposed controller which includes the tracking of a three-dimensional trajectory by the UAV subject to time-varying wind conditions. The simulation results show the efficiency of the proposed control algorithm, especially in real-time control systems because of its computational efficiency.

scholarly journals Deep Reinforcement Learning for Computation Offloading and Resource Allocation in Unmanned-Aerial-Vehicle Assisted Edge Computing

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6499
Author(s):  
Shuyang Li ◽  
Xiaohui Hu ◽  
Yongwen Du
Keyword(s):  
Resource Allocation ◽  
Reinforcement Learning ◽  
Energy Consumption ◽  
Unmanned Aerial Vehicle ◽  
Learning Algorithm ◽  
End Users ◽  
Edge Computing ◽  
Computation Offloading ◽  
Multiple Users ◽  
Aerial Vehicle

Computation offloading technology extends cloud computing to the edge of the access network close to users, bringing many benefits to terminal devices with limited battery and computational resources. Nevertheless, the existing computation offloading approaches are challenging to apply to specific scenarios, such as the dense distribution of end-users and the sparse distribution of network infrastructure. The technological revolution in the unmanned aerial vehicle (UAV) and chip industry has granted UAVs more computing resources and promoted the emergence of UAV-assisted mobile edge computing (MEC) technology, which could be applied to those scenarios. However, in the MEC system with multiple users and multiple servers, making reasonable offloading decisions and allocating system resources is still a severe challenge. This paper studies the offloading decision and resource allocation problem in the UAV-assisted MEC environment with multiple users and servers. To ensure the quality of service for end-users, we set the weighted total cost of delay, energy consumption, and the size of discarded tasks as our optimization objective. We further formulate the joint optimization problem as a Markov decision process and apply the soft actor–critic (SAC) deep reinforcement learning algorithm to optimize the offloading policy. Numerical simulation results show that the offloading policy optimized by our proposed SAC-based dynamic computing offloading (SACDCO) algorithm effectively reduces the delay, energy consumption, and size of discarded tasks for the UAV-assisted MEC system. Compared with the fixed local-UAV scheme in the specific simulation setting, our proposed approach reduces system delay and energy consumption by approximately 50% and 200%, respectively.

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