Coupling in-flight trajectory planning and flocking for multiple autonomous parafoils

2012 ◽  
Vol 226 (6) ◽  
pp. 691-720 ◽  
Author(s):  
A Rosich ◽  
P Gurfil
Keyword(s):  
Global Positioning System ◽  
Autonomous Navigation ◽  
Degrees Of Freedom ◽  
Reference Trajectory ◽  
Flight Trajectory ◽  
Multiagent Simulation ◽  
Six Degrees Of Freedom ◽  
Wide Range ◽  
Global Positioning ◽  
Simple Rules

Much effort has been invested during the past decades in design of parafoils for a wide range of payloads and in development of means for their guidance. Existing parafoils are capable of autonomous navigation using the global positioning system and other onboard sensors. The purpose of this study is to explore the advantages of coordination among multiple autonomous parafoils. Each parafoil is able to navigate to the target on its own by following a real-time-generated reference trajectory. A new method for trajectory generation is presented and behaviour-based rules are developed that control the relative motion of the descending parafoils. The set of simple rules results in an emergent behaviour known as flocking. The coupling between trajectory following and flocking is studied in a multiagent simulation. The simulation uses a realistic six-degrees-of-freedom model of a heavy cargo parafoil. The obtained results demonstrate the possibility of flocking behaviour for guided parafoils. The flocking rules ensure safe separation between the vehicles headed for the same target and allow the parafoils to follow a reference trajectory as a group.

Evaluation of CORSIM Car-Following Model by Using Global Positioning System Field Data

2000 ◽  
Vol 1710 (1) ◽  
pp. 114-121 ◽  
Author(s):  
Sastry Chundury ◽  
Brian Wolshon
Keyword(s):  
Data Collection ◽  
Global Positioning System ◽  
Field Data ◽  
Goodness Of Fit ◽  
Positioning System ◽  
Goodness Of Fit Test ◽  
Distance Information ◽  
Car Following ◽  
Wide Range ◽  
Global Positioning

It has been recognized that CORSIM (and its constituent program, NETSIM) is one of the most widely used and effective computer programs for the simulation of traffic behavior on urban transportation networks. Its popularity is due in large part to the high level of detail incorporated into its modeling routines. However, the car-following models, used for the simulation of driver behavior in the program, have not been formally calibrated or validated. Since the model has performed well in a wide range of applications for so many years, it has always been assumed to have an implied validity. This study evaluated the NETSIM car-following models by comparing their results with field data. Car-following field data were collected using a new data collection system that incorporates new Global Positioning System and geographic information system technologies to improve the accuracy, ease, speed, and cost-effectiveness of car-following data collection activities. First, vehicle position and speed characteristics were collected under field conditions. Then simulated speeds and distances were based on identical lead vehicle actions using NETSIM car-following equations. Comparisons of simulated and field data were completed using both graphical and statistical methods. Although some differences were evident in the graphical comparisons, the graphs overall indicated a reasonable match between the field and simulated vehicle movements. Three statistical tests, including a goodness-of-fit test, appear to support these subjective conclusions. However, it was also found that definitive statistical conclusions were difficult to draw since no single test was able to compare the sets of speed and distance information on a truly impartial basis.

scholarly journals An autonomous navigational system using GPS and computer vision for futuristic road traffic

2022 ◽  
Vol 12 (1) ◽  
pp. 179
Author(s):  
Prabha Ramasamy ◽  
Mohan Kabadi
Keyword(s):  
Computer Vision ◽  
Global Positioning System ◽  
Navigation System ◽  
Autonomous Navigation ◽  
Road Traffic ◽  
Positioning System ◽  
Traffic System ◽  
Global Positioning ◽  
Navigational System

Navigational service is one of the most essential dependency towards any transport system and at present, there are various revolutionary approaches that has contributed towards its improvement. This paper has reviewed the global positioning system (GPS) and computer vision based navigational system and found that there is a large gap between the actual demand of navigation and what currently exists. Therefore, the proposed study discusses about a novel framework of an autonomous navigation system that uses GPS as well as computer vision considering the case study of futuristic road traffic system. An analytical model is built up where the geo-referenced data from GPS is integrated with the signals captured from the visual sensors are considered to implement this concept. The simulated outcome of the study shows that proposed study offers enhanced accuracy as well as faster processing in contrast to existing approaches.

Six Degrees of Freedom Wide-Range Ubiquitous IPT for IoT by DQ Magnetic Field

2017 ◽  
Vol 32 (11) ◽  
pp. 8258-8276 ◽  
Author(s):  
Eun S. Lee ◽  
Jin S. Choi ◽  
Ho S. Son ◽  
Seung H. Han ◽  
Chun T. Rim
Keyword(s):  
Magnetic Field ◽  
Degrees Of Freedom ◽  
Six Degrees Of Freedom ◽  
Wide Range

Benchmarking GPS stations: an improved way to identify the GPS sensitivity

2021 ◽  
Author(s):  
Anna Klos ◽  
Jürgen Kusche ◽  
Artur Lenczuk ◽  
Grzegorz Leszczuk ◽  
Janusz Bogusz
Keyword(s):  
Time Series ◽  
Global Positioning System ◽  
Spatial Density ◽  
Earth System ◽  
Global Networks ◽  
The Earth ◽  
Mass Redistribution ◽  
Wide Range ◽  
Global Positioning ◽  
Temporal And Spatial

<p>Global Positioning System (GPS) stations are affected by a plethora of real and system-related signals and errors that occur at various temporal and spatial resolutions. Geophysical changes related to mass redistribution within the Earth system, common mode components, instability of GPS monuments or thermal expansion of ground, all contribute to the GPS-derived displacement time series. Different spatial resolutions that real and system-related errors occur within are covered thanks to the global networks of GPS stations, characterized presently by an unprecedented spatial density. Various temporal resolutions are covered by displacement time series which span even 25 years now, as estimated for the very first stations established. However, since the GPS sensitivity remains unrecognized, retrieving one signal from this wide range of processes may be very uncertain. Up to now, a comparison between GPS-observed displacement time series and displacements predicted by a set of models, as e.g. environmental loading models, was used to demonstrate the accuracy of the model to predict the observed phenomena. Such a comparison is, however, dependent on the accuracy of models and also on the sensitivity of individual GPS stations. We present a new way to identify the GPS sensitivity, which is based on benchmarking of individual GPS stations using statistical clustering approaches. We focus on regional sets of GPS stations located in Europe, where technique-related signals cover real geophysical changes for many GPS permanent stations and those located in South America and Asia, where hydrological and atmospheric loadings dominate other effects. We prove that combining GPS stations into smaller sets improves our understanding of real and system-related signals and errors.</p>

Comparison of Radius-Estimating Techniques for Horizontal Curves

2005 ◽  
Vol 1918 (1) ◽  
pp. 76-83 ◽  
Author(s):  
Paul J. Carlson ◽  
Mark Burris ◽  
Kit Black ◽  
Elisabeth R. Rose
Keyword(s):  
Global Positioning System ◽  
Ease Of Use ◽  
Horizontal Curve ◽  
Rural Highways ◽  
Horizontal Curves ◽  
Long Run ◽  
Wide Range ◽  
Global Positioning ◽  
Advisory Speed ◽  
Transportation Agencies

Techniques to obtain horizontal curve radii were identified and tested in a controlled experimental study. Ten techniques were identified and pilot tested. Eight of those initial 10 were then used to measure 18 horizontal curves on two-lane rural highways in Texas to evaluate fully their accuracy, precision, cost, ease of use, and safety. Statistically, all eight techniques produced equivalent accuracies, but they displayed a wide range in their precision. The costs varied as a function of the number of times each technique would be used in the field, with those techniques with high initial costs becoming more cost-competitive over the long run with many uses. Ease of use was gauged on the basis of the experience gained during this research. Safety was measured on the basis of whether a technique required personnel on the roadway or roadside or whether it allowed personnel to work from an office or inside a vehicle. The recommendations were based on the expected needs of three different groups that use radii information: transportation agencies, accident investigators, and transportation researchers. Within transportation agencies, engineers and planners in the office will probably benefit most from the plan sheet method, whereas field personnel will probably benefit most from using either the advisory speed or a Global Positioning System (GPS) method. Those who estimate only occasionally, such as accident investigators, will benefit most from the compass method. Finally, researchers or others who may have difficulty accessing plan sheets but still require accurate data will benefit from using a GPS.

Optical Flow-Based Monocular Vision/INS Integrated Navigation for Mobile Robot Indoors

2014 ◽  
Vol 538 ◽  
pp. 375-378 ◽  
Author(s):  
Xi Yuan Chen ◽  
Jing Peng Gao ◽  
Yuan Xu ◽  
Qing Hua Li
Keyword(s):  
Mobile Robot ◽  
Optical Flow ◽  
Global Positioning System ◽  
Autonomous Navigation ◽  
Image Sequences ◽  
Velocity Estimation ◽  
Monocular Vision ◽  
Integrated Navigation ◽  
Global Positioning ◽  
Flow Algorithm

This paper proposed a new algorithm for optical flow-based monocular vision (MV)/ inertial navigation system (INS) integrated navigation. In this mode, a downward-looking camera is used to get the image sequences, which is used to estimate the velocity of the mobile robot by using optical flow algorithm. INS is employed for the yaw variation. In order to evaluate the performance of the proposed method, a real indoor test has done. The result shows that the proposed method has good performance for velocity estimation. It can be applied to the autonomous navigation of mobile robots when the Global Positioning System (GPS) and code wheel is unavailable.

scholarly journals Indoor Localization System Using Wi-Fi Technology

2019 ◽  
pp. 69-77
Keyword(s):  
Global Positioning System ◽  
Indoor Localization ◽  
Tracking System ◽  
Low Cost ◽  
Positioning System ◽  
Test Results ◽  
Localization System ◽  
Transmission Technique ◽  
Wide Range ◽  
Global Positioning

Recently, indoor localization has witnessed an increase in interest, due to the potential wide range of using in different applications, such as Internet of Things (IoT). It is also providing a solution for the absence of Global Positioning System (GPS) signals inside buildings. Different techniques have been used for performing the indoor localization, such as sensors and wireless technologies. In this paper, an indoor localization and object tracking system is proposed based on WiFi transmission technique. It is done by distributing different WiFi sources around the building to read the data of the tracked objects. This is to measure the distance between the WiFi receiver and the object to allocate and track it efficiently. The test results show that the proposed system is working in an efficient way with low cost.

scholarly journals Automatic Identification of Maritime Boundary Alert System using GPS

2018 ◽  
Vol 7 (3.1) ◽  
pp. 20
Author(s):  
A Kavitha ◽  
N Ashok Kumar ◽  
M Revathy
Keyword(s):  
Global Positioning System ◽  
End Users ◽  
Security Requirements ◽  
Automatic Identification ◽  
Positioning System ◽  
Alert System ◽  
Maritime Boundary ◽  
Wide Range ◽  
Global Positioning ◽  
The World

Global Positioning System (GPS) is being used more and more for a wide range of applications. This is a reliable position, navigation for end-users of anywhere in the world or around the globe, on any weather, day or night. The synchronization benefit gives that the GPS has three segments: space, control and client GPS has turned into a broadly utilized route apparatus over the world and turn into a helpful instrument for mapping, overviews, business, logical utilizations, checking and diversion has gone. As in any of the current GPS systems of geographic and entertainment, the security requirements of civilian navigation in the sea are met because the sea border of a country cannot be marked. This work concentrates on the flexibility and utility of a GPS in the ocean. The principle motivation behind the work is to help anglers explore past the limits of different nations. In the event that an angler goes past the limits of the nation, at that point a notice emerges, showing that the anglers have crossed the outskirt. Furthermore, a GSM transmitter interface will make an impression on construct station situated with respect to the shore showing that a vessel has crossed the fringe. Hence protects in the shore can help and give extra help to those anglers if necessary. Remembering about existences of Indian anglers, this gadget has been made to help them not to move past Indian. Overall, it is an endeavor to fabricate an appropriate gadget for the anglers at a sensibly ease.  

Trajectory Tracking of 3D Autonomous Vehicles Using Backstepping Control

2019 ◽  
Author(s):  
Karl Ludwig Fetzer ◽  
Sergey G. Nersesov ◽  
Hashem Ashrafiuon
Keyword(s):  
Autonomous Vehicles ◽  
Degrees Of Freedom ◽  
3D Model ◽  
Autonomous Vehicle ◽  
Backstepping Control ◽  
Reference Trajectory ◽  
Control Laws ◽  
Six Degrees Of Freedom ◽  
Error Dynamics ◽  
Dynamics Stability

Abstract In this paper, the authors derive backstepping control laws for tracking a time-based reference trajectory for a 3D model of an autonomous vehicle with two degrees of underactuation. Tracking all six degrees of freedom is made possible by a transformation that reduces the order of the error dynamics. Stability of the resulting error dynamics is proven and demonstrated in simulations.

scholarly journals An Accuracy Assessment of Positions Obtained Using Survey- and Recreational-Grade Global Positioning System Receivers across a Range of Forest Conditions within the Tanana Valley of Interior Alaska

2009 ◽  
Vol 24 (3) ◽  
pp. 128-136 ◽  
Author(s):  
Hans-Erik Andersen ◽  
Tobey Clarkin ◽  
Ken Winterberger ◽  
Jacob Strunk
Keyword(s):  
Global Positioning System ◽  
Forest Type ◽  
Base Station ◽  
Appreciable Amount ◽  
Baseline Length ◽  
Positioning System ◽  
Interior Alaska ◽  
Wide Range ◽  
Global Positioning ◽  
Forest Conditions

Abstract The accuracy of recreational- and survey-grade global positioning system (GPS) receivers was evaluated across a range of forest conditions in the Tanana Valley of interior Alaska. High-accuracy check points, established using high-order instruments and closed-traverse surveying methods, were then used to evaluate the accuracy of positions acquired in different forest types using a recreational-grade GPS unit and a Global Navigation Satellite System (GLONASS)-enabled survey-grade unit, over a range of acquisition and postprocessing alternatives, including distance to base station, or baseline length (0ߝ10, 10ߝ50, 50ߝ100, and >100 km), use of Russian GLONASS satellites, and occupation times (5, 10, and 20 minutes). The accuracy of recreational-grade GPS was 3ߝ7 m across all sites. For survey-grade units, accuracies were influenced by forest type and baseline length, with lower errors observed with more open stands and shorter baseline lengths. The use of GLONASS satellites improved positions by a small but appreciable amount, and longer observation times (20 minutes) resulted in more reliably accurate positions across all sites. In general, these results indicate that if forest inventory plots in interior Alaska and other high-latitude regions of the world are occupied for 20 minutes with survey-grade instruments, positions with submeter error can be consistently obtained across a wide range of conditions.

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