scholarly journals Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles

2015 ◽  
Vol 9 (1) ◽  
pp. 50-56 ◽  
Author(s):  
Jakub Cieśluk ◽  
Zdzisław Gosiewski ◽  
Leszek Ambroziak ◽  
Sławomir Romaniuk
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Imaging System ◽  
Information Source ◽  
Digital Camera ◽  
Control Law ◽  
Simulation Studies ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Computational Simplicity

Abstract The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.

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 Performance analysis of nonlinear observers applied to the fixed-wing unmanned aerial vehicles flight under decoupled-reduced model

2017 ◽  
Vol 9 (2) ◽  
pp. 111-123 ◽  
Author(s):  
Ricardo P Parada ◽  
A Tadeo Espinoza ◽  
Alejandro E Dzul ◽  
Francisco G Salas
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Sliding Mode ◽  
Reduced Model ◽  
Control Law ◽  
Extended State ◽  
Nonlinear Observers ◽  
Design And Implementation ◽  
Aerial Vehicles ◽  
Nonlinear Extended State Observer

In this paper, we present the design and implementation of two nonlinear observers: nonlinear extended state observer and sliding mode observer for estimating the pitch, yaw and roll angles and angular rates of a fixed-wing unmanned aerial vehicles system under a decoupled-reduced model in real flight experiments. A backstepping control law is designed for control in a decentralized way for altitude, yaw and roll of the airplane. This scheme allows us to test experimentally the feasibility of using the online estimated data from the observers in flight control, which is useful for increasing the robustness of the control and the safety of flight. Furthermore, a comparative analysis of the performance of both nonlinear observers is conducted.

scholarly journals Distributed Control of Networked Unmanned Aerial Vehicles for Valley Area Coverage

2016 ◽  
Vol 2016 ◽  
pp. 1-12
Author(s):  
Mengji Shi ◽  
Kaiyu Qin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Distributed Control ◽  
A Priori ◽  
Future Research ◽  
Control Law ◽  
Full Coverage ◽  
Aerial Vehicles ◽  
Crash Avoidance ◽  
Pass Through ◽  
Valley Area

The paper provides a novel cooperative motion scheme for networked Unmanned Aerial Vehicles (UAVs) to fully sweep-cover a priori unknown elongated areas with curved borders, which are termed “valley areas.” The UAVs’ motion is confined between the borders. Different from former research on straight-corridor-sweep-coverage, in each valley area, the width of different portions varies dramatically: the UAVs need to line up across the valley area to achieve full coverage of the widest portions while they can only pass through the narrowest parts one by one in a queue. The UAVs are provided with barrier detection and inter-UAV communication. According to the scheme, a distributed control law has been offered for discrete-time multi-UAV systems, guaranteeing crash avoidance and full coverage while considering the constrained mobility of the UAVs. Regular and extreme simulations are carried out to verify the efficacy and stability of the proposed algorithm. Solutions to U-shaped valley coverage and the case of insufficient UAVs available are discussed with validation simulations. Comparison simulations are conducted with respect to a line-sweep-coverage algorithm developed by a closely related work, and differences in performance are revealed subsequently. Conclusions are drawn with possible directions of future research.

scholarly journals Convolutional neural network target detection in hyperspectral imaging for maritime surveillance

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984299
Author(s):  
Sara Freitas ◽  
Hugo Silva ◽  
José Miguel Almeida ◽  
Eduardo Silva
Keyword(s):  
Neural Network ◽  
Anomaly Detection ◽  
Convolutional Neural Network ◽  
Unmanned Aerial Vehicles ◽  
Hyperspectral Imaging ◽  
Imaging System ◽  
Spectral Angle Mapper ◽  
Maritime Surveillance ◽  
Aerial Vehicles ◽  
Spectral Angle

This work addresses a hyperspectral imaging system for maritime surveillance using unmanned aerial vehicles. The objective was to detect the presence of vessels using purely spatial and spectral hyperspectral information. To accomplish this objective, we implemented a novel 3-D convolutional neural network approach and compared against two implementations of other state-of-the-art methods: spectral angle mapper and hyperspectral derivative anomaly detection. The hyperspectral imaging system was developed during the SUNNY project, and the methods were tested using data collected during the project final demonstration, in São Jacinto Air Force Base, Aveiro (Portugal). The obtained results show that a 3-D CNN is able to improve the recall value, depending on the class, by an interval between 27% minimum, to a maximum of over 40%, when compared to spectral angle mapper and hyperspectral derivative anomaly detection approaches. Proving that 3-D CNN deep learning techniques that combine spectral and spatial information can be used to improve the detection of targets classification accuracy in hyperspectral imaging unmanned aerial vehicles maritime surveillance applications.

Non-linear flight control for unmanned aerial vehicles using adaptive backstepping based on invariant manifolds

2012 ◽  
Vol 227 (1) ◽  
pp. 33-44 ◽  
Author(s):  
Jiaming Zhang ◽  
Qing Li ◽  
Nong Cheng ◽  
Bin Liang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Invariant Manifolds ◽  
Backstepping Control ◽  
Linear Estimator ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Adaptive Backstepping Control ◽  
Aerial Vehicles ◽  
Non Linear ◽  
Aerodynamic Parameters

A novel adaptive backstepping control scheme based on invariant manifolds for unmanned aerial vehicles in the presence of some uncertainties in the aerodynamic coefficients is presented in this article. This scheme is used for command tracking of the angle of attack, the sideslip angle, and the bank angle of the aircraft. The control law has a modular structure, which consists of a control module and a recently developed non-linear estimator. The estimator is based on invariant manifolds, which allows for prescribed dynamics to be assigned to the estimation error. The adaptive backstepping control law combined with the estimator covers the entire flight envelope and does not require accurate aerodynamic parameters. The stability of the whole closed-loop system is analyzed using the Lyapunov stability theory. The full six-degree-of-freedom non-linear model of a small unmanned aerial vehicle is used to demonstrate the effectiveness of the proposed control law. The numerical simulation result shows that this method can yield satisfying command tracking despite some unknown aerodynamic parameters.

scholarly journals AOTF-based hyperspectral imaging system for unmanned aerial vehicles

2019 ◽  
Author(s):  
Vladislav Batshev ◽  
Vitold Pozhar ◽  
Alexander Machikhin ◽  
Maxim Gaponov ◽  
Sergey Shirokov ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Hyperspectral Imaging ◽  
Imaging System ◽  
Aerial Vehicles
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