Formation Control of Quadrotor UAVs by Vision-Based Positioning

2015 ◽  
Vol 798 ◽  
pp. 282-286
Author(s):  
Wooh Yun Kim ◽  
Ji Wook Kwon ◽  
Ji Won Seo
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Ground Truth ◽  
Calibration Method ◽  
Dynamics Model ◽  
The Third ◽  
Position Data ◽  
Quadrotor Uavs ◽  
Quadrotor Unmanned Aerial Vehicles ◽  
Visual Marker

In this paper, a formation control method of quadrotor Unmanned Aerial Vehicles (UAVs) by vision-based positioning is presented. The relative positions and attitudes of two UAVs with respect to a visual marker attached to the third UAV is estimated by a camera calibration method. Based on the estimated positions and attitudes, two UAVs are controlled to the desired positions to form a given formation with respect to the third UAV. A simplified dynamics model of a quadrotor UAV is utilized to design a controller. The proposed formation control method is validated by an experiment with a motion capture system which provides the ground truth of the position data.

Minnesota Department of Transportation Case Studies for Coreless Asphalt Pavement Compaction Assessment

2020 ◽  
Vol 2674 (2) ◽  
pp. 291-301 ◽  
Author(s):  
Kyle Hoegh ◽  
Trevor Steiner ◽  
Eyoab Zegeye Teshale ◽  
Shongtao Dai
Keyword(s):  
Quality Assurance ◽  
Ground Truth ◽  
Calibration Method ◽  
Field Trials ◽  
Asphalt Pavements ◽  
Attractive Potential ◽  
Dielectric Measurements ◽  
Statistical Measures ◽  
Gyratory Compaction ◽  
Air Void

Available methods for assessing hot-mix-asphalt pavements are typically restricted to destructive methods such as coring that damage the pavement and are limited in coverage. Recently, density profiling systems (DPS) have become available with the capability of measuring asphalt compaction continuously, giving instantaneous measurements a few hundred feet behind the final roller of the freshly placed pavement. Further developments of the methods involved with DPS processing have allowed for coreless calibration by correlating dielectric measurements with asphalt specimens fabricated at variable air void contents using superpave gyratory compaction. These developments make DPS technology an attractive potential tool for quality control because of the real-time nature of the results, and quality assurance because of the ability to measure a more statistically significant amount of data as compared with current quality assurance methods such as coring. To test the viability of these recently developed methods for implementation, multiple projects were selected for field trials. Each field trial was used to assess the coreless calibration prediction by comparing with field cores where dielectric measurements were made. Ground truth core validation on each project showed the reasonableness of the coreless calibration method. The validated dielectric to air void prediction curves allowed for assessment of the tested pavements in relation to as-built characteristics, with the DPS providing the equivalent of approximately 100,000 cores per mile. Statistical measures were used to demonstrate how DPS can provide a comprehensive asphalt compaction evaluation that can be used to inform construction-related decisions and has potential as a future quality assurance tool.

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

The Parallel Mechanism and Variable Acceleration Control Method

2013 ◽  
Vol 579-580 ◽  
pp. 659-664
Author(s):  
Xiang Bo Ouyang ◽  
Ke Tian Li ◽  
Hong Jian Xia ◽  
Su Juan Wang ◽  
Huan Wei Zhou ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Control Method ◽  
The Other ◽  
Connecting Rod ◽  
Motion Platform ◽  
The Third ◽  
Symmetric Structure ◽  
Slide Block ◽  
Operation Process ◽  
Moving Platform

t presents the parallel mechanism and variable acceleration control method, which is composed of slider, connecting rod, moving platform and linear guide etc. The motion platform is supported by three connecting rods through hinging, the other end of the connecting rods are respectively hinged with two sliders. Among them two pairs of connecting rod, two sliders and the moving platform formed a symmetric structure that is the so called Parallel Mechanism. The third connecting rod is parallel to one of two connecting rods, so that the two parallel connecting rods, slide block and the moving platform formed a parallelogram structure, it makes that the moving platform is always parallel to liner guiderail in the process of movement. By controlling the two sliders moving in the way of variable acceleration, it can make the trajectory curve, speed curve and acceleration curve of the moving platform are continuous, smooth, so impact and vibration of the moving platform is limited in the operation process.

Adaptive Finite-Time Event-Triggered Formation Control for Quadrotor UAVs with Experimentation

2021 ◽  
pp. 4983-4993
Author(s):  
Jianan Wang ◽  
Qingbiao Kuang ◽  
Dandan Wang ◽  
Chunyan Wang ◽  
Jiayuan Shan
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Quadrotor Uavs ◽  
Event Triggered

Lyapunov vector-based formation tracking control for unmanned aerial vehicles with obstacle/collision avoidance

2019 ◽  
Vol 42 (5) ◽  
pp. 942-950
Author(s):  
Kai Chang ◽  
Dailiang Ma ◽  
Xingbin Han ◽  
Ning Liu ◽  
Pengpeng Zhao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Potential Field ◽  
Formation Control ◽  
Control Method ◽  
Spherical Surface ◽  
Moving Target ◽  
Local Optima ◽  
Formation Tracking ◽  
Aerial Vehicles ◽  
Repulsive Forces

This paper presents a formation control method to solve the moving target tracking problem for a swarm of unmanned aerial vehicles (UAVs). The formation is achieved by the artificial potential field with both attractive and repulsive forces, and each UAV in the swarm will be driven into a leader-centered spherical surface. The leader is controlled by the attractive force by the moving target, while the Lyapunov vectors drive the leader UAV to a fly-around circle of the target. Furthermore, the rotational vector-based potential field is applied to achieve the obstacle avoidance of UAVs with smooth trajectories and avoid the local optima problem. The efficiency of the developed control scheme is verified by numerical simulations in four scenarios.

scholarly journals Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Hongzhe Jin ◽  
Yang Zhang ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Yubin Liu ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Control Strategy ◽  
Pitch Angle ◽  
Control Method ◽  
Steering Control ◽  
Dynamics Model ◽  
Gyroscope System ◽  
Simulation Results ◽  
Balance Structure ◽  
Gyroscope Precession

This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.

scholarly journals Visual Calibration for Multiview Laser Doppler Speed Sensing

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 582 ◽  
Author(s):  
Yunpu Hu ◽  
Leo Miyashita ◽  
Yoshihiro Watanabe ◽  
Masatoshi Ishikawa
Keyword(s):  
Laser Doppler Velocimetry ◽  
Tracking System ◽  
Calibration Method ◽  
Laser Doppler ◽  
Data Sets ◽  
Motion Sensing ◽  
Marker Tracking ◽  
Factors Influencing ◽  
Sensing Model ◽  
Visual Marker

We present a novel calibration method for a multi-view laser Doppler speed sensing (MLDSS) system. In contrast with the traditional method where only the laser geometry is independently calibrated, the proposed method simultaneously optimizes all the laser parameters and directly associates the parameters with a motion sensing model. By jointly considering the consistency among laser Doppler velocimetry, the laser geometry and a visual marker tracking system, the proposed calibration method further boosts the accuracy of MLDSS. We analyzed the factors influencing the precision, and quantitatively evaluated the efficiency of the proposed method on several data sets.

scholarly journals Interaction of an Asymmetric Double Vortex and Trochoidal Motion of a Tropical Cyclone with the Concentric Eyewall Structure

2006 ◽  
Vol 63 (3) ◽  
pp. 1069-1081 ◽  
Author(s):  
Masahito Oda ◽  
Mikio Nakanishi ◽  
Gen’ichi Naito
Keyword(s):  
Tropical Cyclone ◽  
Numerical Experiment ◽  
Tropical Cyclones ◽  
Rotation Period ◽  
Echo Intensity ◽  
Dynamics Model ◽  
The Third ◽  
Radar Echo ◽  
The Relationship ◽  
Typhoon Herb

Abstract Radar echo images demonstrate that mature tropical cyclones frequently have a concentric eyewall structure, which consists of the inner eyewall, echo-free moat, and outer eyewall regions. Near the inner and outer eyewalls, well-defined wind maxima are generally observed. This indicates that two large vertical vorticity regions exist just inside radii of the two wind maxima near the inner and outer eyewalls. Therefore, the concentric eyewall structure can be considered to be a double vortex composed of the inner vortex and the outer vortex ring. In this study, the contour dynamics model is used on the f plane to analyze the characteristics of flows with either a symmetric double vortex or an asymmetric one, and examined the relationship between the movement of the inner vortex in an asymmetric double vortex and a trochoidal motion of a tropical cyclone with an asymmetric concentric eyewall structure. Results show that, depending on the degree of an interaction of a double vortex, the evolution of the inner vortex is classified into three patterns: the first is that the center of the inner vortex is stationary, which is seen only for the symmetric double vortex; the second is that the track of the center of the inner vortex draws a circle; and the third is that it draws a spiral. A numerical experiment based on an observed flow around Typhoon Herb was also performed. The time evolution of the double vortex is very similar to that of radar echo intensity of Typhoon Herb. Also the rotation period and amplitude of the inner vortex in the numerical experiment were comparable with those of the trochoidal motion in the observation. These suggest that, in tropical cyclones with the concentric eyewall structure, the interaction of an asymmetric double vortex can become a cause of trochoidal motion.

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