Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach

This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV 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 a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can 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 results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.

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

10.20944/preprints202112.0012.v1 ◽

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.

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Hemispherical InfraRed(IR) marker for reliable detection for autonomous landing on a moving ground vehicle from various altitude angles

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2021.3066643 ◽

2021 ◽

pp. 1-1

Author(s):

Jeounggeun Lim ◽

Taeyeon Lee ◽

Sangjin Pyo ◽

Jehong Lee ◽

Juho Kim ◽

...

Keyword(s):

Autonomous Landing ◽

Ground Vehicle ◽

Reliable Detection

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Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method

Mathematical Problems in Engineering ◽

10.1155/2018/7974325 ◽

2018 ◽

Vol 2018 ◽

pp. 1-19

Author(s):

Le Liang ◽

Yanjie Liu ◽

Hao Xu

Keyword(s):

Trajectory Optimization ◽

Control Method ◽

External Disturbance ◽

Backstepping Control ◽

Adaptive Robust Control ◽

Robot Dynamics ◽

Adaptive Backstepping ◽

Recycling Process ◽

Adaptive Backstepping Control ◽

Modeling Uncertainties

Multiobjective trajectory optimization and adaptive backstepping control method based on recursive fuzzy wavelet neural network (RFWNN) are proposed to solve the problem of dynamic modeling uncertainties and strong external disturbance of the rubber unstacking robot during recycling process. First, according to the rubber viscoelastic properties, the Hunt-Crossley nonlinear model is used to construct the robot dynamics model. Then, combined with the dynamic model and the recycling process characteristics, the multiobjective trajectory optimization of the rubber unstacking robot is carried out for the operational efficiency, the running trajectory smoothness, and the energy consumption. Based on the trajectory optimization results, the adaptive backstepping control method based on RFWNN is adopted. The RFWNN method is applied in the main controller to cope with time-varying uncertainties of the robot dynamic system. Simultaneously, an adaptive robust control law is developed to eliminate inevitable approximation errors and unknown disturbances and relax the requirement for prior knowledge of the controlled system. Finally, the validity of the proposed control strategy is verified by experiment.

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Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements

Complexity ◽

10.1155/2018/4056870 ◽

2018 ◽

Vol 2018 ◽

pp. 1-10 ◽

Cited By ~ 1

Author(s):

Huapeng Yu ◽

Xu Zhou

Keyword(s):

Trajectory Optimization ◽

Autonomous Underwater Vehicle ◽

Control Method ◽

Engineering Application ◽

System Model ◽

Integrated Navigation ◽

Direct Route ◽

Error Covariance ◽

Polar Coordinate ◽

Beacon Navigation

Aiming at the problem of autonomous underwater vehicle navigation trajectory optimization using single beacon location under direct route condition, a nonlinear system model for AUV single beacon navigation is established, and the linearized system model with error states is constructed by polar coordinate transformation and simplification. Then, current disturbance is considered. To find out the optimum path to utilize range-only measurements, a novel observability degree-based analysis method is proposed, which gives a quantitative insight into convergence characteristics of the error states by using the eigenvalues of the normalized error covariance matrix. Simulation experiments are done to test convergence characteristics of AUV integrated navigation error states with single beacon range-only measurements under direct route control conditions. The experimental results show that the proposed control method is effective, and it has an important engineering application value and provides us with an optimized path.

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Personal Exposure to BC, PM and NO2 in the Paris Region Measured by Portable Sensors Worn by Volunteers

Toxics ◽

10.3390/toxics10010033 ◽

2022 ◽

Vol 10 (1) ◽

pp. 33

Author(s):

Baptiste Languille ◽

Valérie Gros ◽

Bonnaire Nicolas ◽

Cécile Honoré ◽

Anne Kaufmann ◽

...

Keyword(s):

Large Scale ◽

Road Traffic ◽

Personal Exposure ◽

Portable Sensors ◽

Promising Solution ◽

Field Campaigns ◽

Paris Region ◽

The Impact ◽

First Time ◽

Indoor And Outdoor

Portable sensors have emerged as a promising solution for personal exposure (PE) measurement. For the first time in Île-de-France, PE to black carbon (BC), particulate matter (PM), and nitrogen dioxide (NO2) was quantified based on three field campaigns involving 37 volunteers from the general public wearing the sensors all day long for a week. This successful deployment demonstrated its ability to quantify PE on a large scale, in various environments (from dense urban to suburban, indoor and outdoor) and in all seasons. The impact of the visited environments was investigated. The proximity to road traffic (for BC and NO2), as well as cooking activities and tobacco smoke (for PM), made significant contributions to total exposure (up to 34%, 26%, and 44%, respectively), even though the time spent in these environments was short. Finally, even if ambient outdoor levels played a role in PE, the prominent impact of the different environments suggests that traditional ambient monitoring stations is not a proper surrogate for PE quantification.

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Drivocopter: A concept Hybrid Aerial/Ground vehicle for long-endurance mobility

2020 IEEE Aerospace Conference ◽

10.1109/aero47225.2020.9172782 ◽

2020 ◽

Author(s):

Arash Kalantari ◽

Thomas Touma ◽

Leon Kim ◽

Rianna Jitosho ◽

Kyle Strickland ◽

...

Keyword(s):

Ground Vehicle ◽

Long Endurance

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Trajectory Optimization of Flexible Mobile Manipulators Using Open-Loop Optimal Control Method

Intelligent Robotics and Applications - Lecture Notes in Computer Science ◽

10.1007/978-3-540-88513-9_7 ◽

2008 ◽

pp. 54-63 ◽

Cited By ~ 3

Author(s):

M. H. Korayem ◽

H. Rahimi Nohooji

Keyword(s):

Optimal Control ◽

Trajectory Optimization ◽

Control Method ◽

Open Loop ◽

Mobile Manipulators ◽

Optimal Control Method

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Optimized Motion Control of an Intelligent Cane Robot for Easing Muscular Fatigue in the Elderly During Walking

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2013.p1070 ◽

2013 ◽

Vol 25 (6) ◽

pp. 1070-1077 ◽

Cited By ~ 2

Author(s):

Pei Di ◽

◽

Jian Huang ◽

Shotaro Nakagawa ◽

Kosuke Sekiyama ◽

...

Keyword(s):

Control Method ◽

The Elderly ◽

Gait Pattern ◽

Muscular Fatigue ◽

Walking Pattern ◽

Load Sensor ◽

Outdoor Environments ◽

Indoor And Outdoor Environments ◽

Indoor And Outdoor ◽

Support Phase

In previous works, an intelligent cane robot was proposed to assist the elderly or persons with conditions that slightly restrict their motion ability. The cane robot can help the elderly walk in both indoor and outdoor environments because of its miniaturized design and mobility. In the intentional direction (ITD) concept the user’s walking intention is estimated by analyzing signals from a six-axis force/torque sensor. An admittance control method controls the motion of the cane robot. In some cases, however the elderly can not walk uniformly because one leg suffers from muscular weakness. When the affected leg is in the support phase, the cane robot should stop to absorb more strain than the affected leg. When the healthy leg is in the support phase, the cane robot should move forward according to ITD. In contrast to ITD, the motion of the cane robot should be controlled considering the walking pattern characteristics of the elderly to ensure safety and effectiveness. In this paper, an optimizedmotion control of the cane robot is proposed that is based on the characteristics gait pattern (CGP). An on-shoe load sensor was used to evaluate the reduction in muscular fatigue for the user’s affected leg. The effectiveness of the proposed method was verified through experiments.

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