Experimental Validation of a Distributed Control Approach Based on Multiplex Networks on Formations of Unmanned Aerial Vehicles

2019 ◽  
Author(s):  
Jesse Jaramillo ◽  
Tyler Wieczorek ◽  
Dzung M. Tran ◽  
Venkata S. Dadi ◽  
Tansel Yucelen ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Distributed Control ◽  
Experimental Validation ◽  
Control Approach ◽  
Multiplex Networks ◽  
Aerial Vehicles

scholarly journals A Quadral-Fuzzy Control Approach to Flight Formation by a Fleet of Unmanned Aerial Vehicles

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 64366-64381 ◽  
Author(s):  
Marco Antonio Simoes Teixeira ◽  
Flavio Neves-Jr ◽  
Anis Koubaa ◽  
Lucia Valeria Ramos De Arruda ◽  
Andre Schneider De Oliveira
Keyword(s):  
Fuzzy Control ◽  
Unmanned Aerial Vehicles ◽  
Control Approach ◽  
Aerial Vehicles ◽  
Flight Formation

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 Study on Composing Dense Formations in a Dynamic Environment of Multirotor UAVs by Distributed Control

2018 ◽  
Vol 2018 ◽  
pp. 1-8
Author(s):  
Shudao Zhou ◽  
Ao Shen ◽  
Min Wang ◽  
Shuling Peng ◽  
Zhanhua Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Dynamic Model ◽  
Distributed Control ◽  
Distributed Algorithm ◽  
Search Algorithm ◽  
Dynamic Environment ◽  
Step Motion ◽  
Aerial Vehicles ◽  
Path Search ◽  
The Membership Function

In order to make multirotor unmanned aerial vehicles (UAV) compose a desired dense formation and improve the practicality of UAV formation, a distributed algorithm based on fuzzy logic was proposed. The airflow created by multirotor UAVs was analyzed according to the structure of the multirotor UAV and the characteristic equation of the fluid. This paper presented a dynamic model for the process of formation of and path search algorithm based on this model. The membership function in this model combines the factors of position, flow field, and movement. Integrating the dynamic model and its desired position in formations, each UAV evaluates the surrounding points and then selects the direction for step motion. Through simulation, this algorithm was improved by a by-step formation approach, and the effectiveness of this method in dense formation of multirotor UAVs was proved.

Three-dimensional image coordinate-based missing region of interest area detection and damage localization for bridge visual inspection using unmanned aerial vehicles

2020 ◽  
pp. 147592172091867
Author(s):  
Sungsik Yoon ◽  
Gi-Hun Gwon ◽  
Jin-Hwan Lee ◽  
Hyung-Jo Jung
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Visual Inspection ◽  
Experimental Validation ◽  
Three Dimensional ◽  
Region Of Interest ◽  
Field Of View ◽  
Damage Localization ◽  
Distance Information ◽  
Dimensional Image ◽  
Aerial Vehicles

In this study, the three-phase missing region of interest area detection and damage localization methodology based on three-dimensional image coordinates was proposed. In Phase 1, the coordinate transformation is performed by the position and attitude information of the unmanned aerial vehicles and camera, and the coordinates of the center point of each acquired image are obtained with the distance information between the camera and the target surface. For Phase 2, the size of the field of view of every acquired image is calculated using the focal length and working distance of the camera. Finally, in Phase 3, the missing part of the region of interest area can be identified and any damage detected at the individual image level can also be localized on the whole inspection region using information about the sizes of the field of view in all images calculated in the previous phase. In order to demonstrate the proposed methodology, experimental validation was performed on the actual bridge pier and deck as well as the lab-scale concrete shear wall. In the tests, the missing area detection and damage localization results were compared with image stitching and human visual inspection results, respectively. Experimental validation results have shown that the proposed methodology identifies missing areas and damage locations within reasonable accuracy of 10 cm.

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