Pub Date : 2015-11-23DOI: 10.1109/RED-UAS.2015.7440999
D. Ortiz-Arroyo
This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a flexible normalized on-line fuzzy controller to find shortest paths. Our method, targeted to low altitude domains, is simple and efficient. Our preliminary results obtained by simulation show the effectiveness of our method.
{"title":"A hybrid 3D path planning method for UAVs","authors":"D. Ortiz-Arroyo","doi":"10.1109/RED-UAS.2015.7440999","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440999","url":null,"abstract":"This paper presents a hybrid method for path planning in 3D spaces. We propose an improvement to a near-optimal 2D off-line algorithm and a flexible normalized on-line fuzzy controller to find shortest paths. Our method, targeted to low altitude domains, is simple and efficient. Our preliminary results obtained by simulation show the effectiveness of our method.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132910838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-23DOI: 10.1109/RED-UAS.2015.7440990
R. Hoogervorst, S. Stramigioli, H. W. Wopereis, M. Fumagalli
Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.
{"title":"Vision-IMU based collaborative control of a blind UAV","authors":"R. Hoogervorst, S. Stramigioli, H. W. Wopereis, M. Fumagalli","doi":"10.1109/RED-UAS.2015.7440990","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440990","url":null,"abstract":"Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125860526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-23DOI: 10.1109/RED-UAS.2015.7440996
M. Saied, Daniel Al Shamaa, H. Shraim, C. Francis, B. Lussier, I. Fantoni
This paper presents preliminary results on a complete translational system modeling and identification of a coaxial counter-rotating X8 octorotor. The objective is to assess the applicability of the widely-used quadrotor model to the coaxial eight-rotor aircraft. A real and representative model of the UAV is necessary to develop simulation tools for validation and to predict the system behavior. A series of tests were conducted with the X8 in flight when performing movements in the x, y and z directions. The model is simulated and validated offline in a MATLAB environment using real data.
{"title":"Model identification and validation for translational movements of an octorotor UAV","authors":"M. Saied, Daniel Al Shamaa, H. Shraim, C. Francis, B. Lussier, I. Fantoni","doi":"10.1109/RED-UAS.2015.7440996","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440996","url":null,"abstract":"This paper presents preliminary results on a complete translational system modeling and identification of a coaxial counter-rotating X8 octorotor. The objective is to assess the applicability of the widely-used quadrotor model to the coaxial eight-rotor aircraft. A real and representative model of the UAV is necessary to develop simulation tools for validation and to predict the system behavior. A series of tests were conducted with the X8 in flight when performing movements in the x, y and z directions. The model is simulated and validated offline in a MATLAB environment using real data.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120996605","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-23DOI: 10.1109/RED-UAS.2015.7441024
J. J. Téllez-Guzmán, J. Gomez-Balderas, N. Marchand, P. Castillo, J. C. Vazquez, J. Alvarez-Muñoz, J. Dumon
The usage of a helmet to command a mini-unmanned aerial vehicle (mini-UAV), is a telepresence system that connects the operator to the vehicle. This paper proposes a system which remotely allows the connection of a pilot's head motion and the 3D movements of a mini-UAVs. Two velocity control algorithms have been tested in order to manipulate the system. Results demonstrate that these movements can be used as reference inputs of the controller of the mini-UAV.
{"title":"Velocity control of mini-UAV using a helmet system","authors":"J. J. Téllez-Guzmán, J. Gomez-Balderas, N. Marchand, P. Castillo, J. C. Vazquez, J. Alvarez-Muñoz, J. Dumon","doi":"10.1109/RED-UAS.2015.7441024","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441024","url":null,"abstract":"The usage of a helmet to command a mini-unmanned aerial vehicle (mini-UAV), is a telepresence system that connects the operator to the vehicle. This paper proposes a system which remotely allows the connection of a pilot's head motion and the 3D movements of a mini-UAVs. Two velocity control algorithms have been tested in order to manipulate the system. Results demonstrate that these movements can be used as reference inputs of the controller of the mini-UAV.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126057962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441019
M. Makarov, C. Maniu, S. Tebbani, Israel David Hinostroza Sáenz, Matheus Moreira Beltrami, J. Kienitz, R. Menegazzi, C. Moreno, Thibaut Rocheron, Joan Rojas Lombarte
In the context of radar applications using small UAVs (Unmanned Aerial Vehicles), this paper focuses on the dynamic modeling and the analysis of an octorotor in view of control design. As part of a research and educational project aiming at designing a VTOL (vertical take-off and landing) flying robot with an embedded radar system, this paper presents a complete multivariable nonlinear model of the rigid body motion of a commercially available octorotor, fully parametrized considering the geometry and mass properties of the octorotor and the load. This model is completed to take into account the effects of air drag due to the friction between the drone and the air. To meet the control objectives for radar applications, a PID (Proportional Integral Derivative) controller for altitude and attitude control, then a Linear Quadratic controller for trajectory tracking are designed. The proposed control laws are validated through simulation results and exhibit effective performance.
{"title":"Octorotor UAVs for radar applications: Modeling and analysis for control design","authors":"M. Makarov, C. Maniu, S. Tebbani, Israel David Hinostroza Sáenz, Matheus Moreira Beltrami, J. Kienitz, R. Menegazzi, C. Moreno, Thibaut Rocheron, Joan Rojas Lombarte","doi":"10.1109/RED-UAS.2015.7441019","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441019","url":null,"abstract":"In the context of radar applications using small UAVs (Unmanned Aerial Vehicles), this paper focuses on the dynamic modeling and the analysis of an octorotor in view of control design. As part of a research and educational project aiming at designing a VTOL (vertical take-off and landing) flying robot with an embedded radar system, this paper presents a complete multivariable nonlinear model of the rigid body motion of a commercially available octorotor, fully parametrized considering the geometry and mass properties of the octorotor and the load. This model is completed to take into account the effects of air drag due to the friction between the drone and the air. To meet the control objectives for radar applications, a PID (Proportional Integral Derivative) controller for altitude and attitude control, then a Linear Quadratic controller for trajectory tracking are designed. The proposed control laws are validated through simulation results and exhibit effective performance.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115369912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441007
H. Abaunza, J. Cariño, P. Castillo, R. Lozano
This paper introduces the design and practical validation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle's heading, then a position control law is developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such that the position of the vehicle becomes stable. The proposed control algorithm allows a linear quadrotor system's behavior. The closed-loop system is then numerically simulated to corroborate stability.
{"title":"Quadrotor dual quaternion control","authors":"H. Abaunza, J. Cariño, P. Castillo, R. Lozano","doi":"10.1109/RED-UAS.2015.7441007","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441007","url":null,"abstract":"This paper introduces the design and practical validation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle's heading, then a position control law is developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such that the position of the vehicle becomes stable. The proposed control algorithm allows a linear quadrotor system's behavior. The closed-loop system is then numerically simulated to corroborate stability.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122434176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441036
J. Ordaz, S. Salazar, S. Mondié, J. Dávila, A. Rodriguez
A Sliding Mode Control (SMC) is modified in order to address the input delay in the control of quadrotor educational platform. The proposed scheme uses a predictor that compensates the delay effect on the input control which can appear for example when the control law is computed in a ground station. A Lyapunov stability analysis is presented to prove the exponential closed-loop stability in presence of perturbations and input delay. The control law is tested with numerical simulations to evaluate the expected results.
{"title":"Quad-rotor orientation control by predictor based sliding mode control","authors":"J. Ordaz, S. Salazar, S. Mondié, J. Dávila, A. Rodriguez","doi":"10.1109/RED-UAS.2015.7441036","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441036","url":null,"abstract":"A Sliding Mode Control (SMC) is modified in order to address the input delay in the control of quadrotor educational platform. The proposed scheme uses a predictor that compensates the delay effect on the input control which can appear for example when the control law is computed in a ground station. A Lyapunov stability analysis is presented to prove the exponential closed-loop stability in presence of perturbations and input delay. The control law is tested with numerical simulations to evaluate the expected results.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122802686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440986
Kentaro Akiyama, Zhenwei Wang, K. Sekiguchi, K. Nonaka
In this paper, we propose a method to estimate the disturbance information using repetitive technique based on a disturbance map. The disturbance map is shared among unmanned aerial vehicles (UAVs) during platoon flight. Shared map improves the estimated accuracy of disturbance observer via repetitive technique, referred as repetitive estimation. Using the estimated disturbance information, the disturbance map is updated on real-time. The disturbance information can be referred in model predictive control (MPC) as prior information. As the result, the disturbance influence will be suppressed effectively. The validity of the proposed method is verified via experiments using two UAVs.
{"title":"Experimental validation of repetitive disturbance estimation and model predictive control for multi UAVs","authors":"Kentaro Akiyama, Zhenwei Wang, K. Sekiguchi, K. Nonaka","doi":"10.1109/RED-UAS.2015.7440986","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440986","url":null,"abstract":"In this paper, we propose a method to estimate the disturbance information using repetitive technique based on a disturbance map. The disturbance map is shared among unmanned aerial vehicles (UAVs) during platoon flight. Shared map improves the estimated accuracy of disturbance observer via repetitive technique, referred as repetitive estimation. Using the estimated disturbance information, the disturbance map is updated on real-time. The disturbance information can be referred in model predictive control (MPC) as prior information. As the result, the disturbance influence will be suppressed effectively. The validity of the proposed method is verified via experiments using two UAVs.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127978482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441001
Orlando García, O. Santos, H. Romero, S. Salazar
This paper is about the control tracking trajectories with a finite optimal strategy using quadcopter helicopter. We performed a lot of experiments to obtained a statistic energetic comparative analysis with PID and optimal control laws. The experimental results have shown that the optimal control is better than PID control based on energy consumption.
{"title":"On the tracking trajectory using optimal control in a quadrotor helicopter: Experimental results","authors":"Orlando García, O. Santos, H. Romero, S. Salazar","doi":"10.1109/RED-UAS.2015.7441001","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441001","url":null,"abstract":"This paper is about the control tracking trajectories with a finite optimal strategy using quadcopter helicopter. We performed a lot of experiments to obtained a statistic energetic comparative analysis with PID and optimal control laws. The experimental results have shown that the optimal control is better than PID control based on energy consumption.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128672184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441021
E. Capello, Hyeongjun Park, Bruno Tavora, G. Guglieri, M. Romano
In this paper, a method to identify parameters of a multicopter is proposed via a compound pendulum test rig and data from an optical position tracking system. Moments of inertia and thrust parameters of a hexacopter are evaluated. In addition, a specific method is introduced to identify the torque by a propeller using a floating test bed. Then, nonlinear dynamic model is derived based on the obtained parameters. To verify the identification method, simulation results using the nonlinear model are compared with experimental results from flight tests.
{"title":"Modeling and experimental parameter identification of a multicopter via a compound pendulum test rig","authors":"E. Capello, Hyeongjun Park, Bruno Tavora, G. Guglieri, M. Romano","doi":"10.1109/RED-UAS.2015.7441021","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441021","url":null,"abstract":"In this paper, a method to identify parameters of a multicopter is proposed via a compound pendulum test rig and data from an optical position tracking system. Moments of inertia and thrust parameters of a hexacopter are evaluated. In addition, a specific method is introduced to identify the torque by a propeller using a floating test bed. Then, nonlinear dynamic model is derived based on the obtained parameters. To verify the identification method, simulation results using the nonlinear model are compared with experimental results from flight tests.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125148790","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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