Pub Date : 2016-08-01DOI: 10.1109/CGNCC.2016.7829063
Xiaohui Sun, Longfei Zhao, Zongxia Jiao
This paper puts forward a new method to address the propulsion mechanism of flapping wing aircrafts, or ornithopter. This new method is the extension of Undulate Propulsion Theory. After reviewing several famous theories of flapping wings, we believe that the method integrating undulate propulsion theory with actuator disk theory can describe the propulsion mechanism of flapping wings more vividly. Then a propulsion expression for flapping wings is derived, which focuses on how airflow velocity, plunging frequency and twisting angle affect the propulsion. Simulations demonstrate that the expression is reasonable and able to provide scientific guidance for the design of flapping wings.
{"title":"Analyses and simulations of propulsion mechanisms for flapping wings with the extension of Undulate Propulsion Theory","authors":"Xiaohui Sun, Longfei Zhao, Zongxia Jiao","doi":"10.1109/CGNCC.2016.7829063","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829063","url":null,"abstract":"This paper puts forward a new method to address the propulsion mechanism of flapping wing aircrafts, or ornithopter. This new method is the extension of Undulate Propulsion Theory. After reviewing several famous theories of flapping wings, we believe that the method integrating undulate propulsion theory with actuator disk theory can describe the propulsion mechanism of flapping wings more vividly. Then a propulsion expression for flapping wings is derived, which focuses on how airflow velocity, plunging frequency and twisting angle affect the propulsion. Simulations demonstrate that the expression is reasonable and able to provide scientific guidance for the design of flapping wings.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123256278","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}
Aerial target detection and avoidance is vital for the flight safety of unmanned aerial vehicles (UAVs). The limited amount of feature points for small and mobile obstacles make them very difficult to be detected. In this paper, the background segmentation and small target detection algorithm is applied in the obstacle detection, and the obstacle localization is achieved by the triangulation method, after which, the threat of collision is evaluated using the safety envelope method. Based on the evaluation results, a UAV can avoid the obstacles by the target point avoidance method. Experiments using a six rotor equipped with a stereo vision system have been implemented to testify the method effectiveness and the results show that the UAV can detect and avoid obstacles effectively.
{"title":"Aerial target detection and avoidance for UAV based on stereo vision","authors":"Zhao Chunhui, Jiang Shan, Zhu Haifeng, Zhu Kaixuan, Lyun-Ho Yang, Zhang Qingchun","doi":"10.1109/CGNCC.2016.7829042","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829042","url":null,"abstract":"Aerial target detection and avoidance is vital for the flight safety of unmanned aerial vehicles (UAVs). The limited amount of feature points for small and mobile obstacles make them very difficult to be detected. In this paper, the background segmentation and small target detection algorithm is applied in the obstacle detection, and the obstacle localization is achieved by the triangulation method, after which, the threat of collision is evaluated using the safety envelope method. Based on the evaluation results, a UAV can avoid the obstacles by the target point avoidance method. Experiments using a six rotor equipped with a stereo vision system have been implemented to testify the method effectiveness and the results show that the UAV can detect and avoid obstacles effectively.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123359274","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828897
Xiaowei Zhang, Chuntao Li, Jiangling Fu
This paper designed a longitudinal control law for a Flying-wing UAV which is a synthesis of Robustness Servomechanism Linear Quadratic Regulator(RSLQR) and L1 adaptive control method. The controlled variable is chosen as C*, a combination of longitudinal acceleration and pitch rate. The baseline controller is based on RSLQR method to satisfy the control requirement of the UAV. The controller is augmented by L1 adaptive output feedback structure to maintain the desired close-loop system characteristics in the presence of the aerodynamic uncertainties and the significant change of the elevator coefficient caused by the transformation of flight state. This paper summarized the theory, the design, simulation testing and the simulation results using a RSLQR-L1 method which validates the performance and the robustness of the designed control system.
{"title":"The application of L1 adaptation control theory for Flying-wing UAV (IEEE CGNCC)","authors":"Xiaowei Zhang, Chuntao Li, Jiangling Fu","doi":"10.1109/CGNCC.2016.7828897","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828897","url":null,"abstract":"This paper designed a longitudinal control law for a Flying-wing UAV which is a synthesis of Robustness Servomechanism Linear Quadratic Regulator(RSLQR) and L1 adaptive control method. The controlled variable is chosen as C*, a combination of longitudinal acceleration and pitch rate. The baseline controller is based on RSLQR method to satisfy the control requirement of the UAV. The controller is augmented by L1 adaptive output feedback structure to maintain the desired close-loop system characteristics in the presence of the aerodynamic uncertainties and the significant change of the elevator coefficient caused by the transformation of flight state. This paper summarized the theory, the design, simulation testing and the simulation results using a RSLQR-L1 method which validates the performance and the robustness of the designed control system.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126774745","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828923
Ningjun Liu, Zhihao Cai, Yingxun Wang
Changes in aircraft parameters affect the quality of flight control, often degrading control performance, even to the point of endangering flight safety. L1 adaptive control (L1AC) has the potential to alleviate these problems, due to its ability to adapt fast while maintaining system robustness. This paper presents and compares variants of L1AC commonly used in flight control. Based on several research examples in which real flight tests were conducted, the method of implementing L1AC in fixed-wing and multirotor attitude control, as well as velocity control, is examined in detail.
{"title":"Applications of L1 adaptive control in aircraft attitude and velocity control","authors":"Ningjun Liu, Zhihao Cai, Yingxun Wang","doi":"10.1109/CGNCC.2016.7828923","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828923","url":null,"abstract":"Changes in aircraft parameters affect the quality of flight control, often degrading control performance, even to the point of endangering flight safety. L1 adaptive control (L1AC) has the potential to alleviate these problems, due to its ability to adapt fast while maintaining system robustness. This paper presents and compares variants of L1AC commonly used in flight control. Based on several research examples in which real flight tests were conducted, the method of implementing L1AC in fixed-wing and multirotor attitude control, as well as velocity control, is examined in detail.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114205027","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828956
Ruofei He, Hongjuan Liu, Dajian Li, Huixia Liu
To improve the accuracy and the robustness of the image based target localization for the small unmanned aerial vehicle (UAV), a maximum likelihood estimation (MLE) approach is proposed. A Monte Carlo method is used for estimating the error information of the tradition localization method. After retrieving the distribution parameters from the Monte Carlo simulations, the maximum likelihood estimation is then applied to acquire the final estimation result based on two traditional localization measurement results. Flying tests show that the MLE method could achieve a better result than the traditional method and a significant improvement on the robustness.
{"title":"A maximum likelihood estimation approach for image based target localization via small unmanned aerial vehicle","authors":"Ruofei He, Hongjuan Liu, Dajian Li, Huixia Liu","doi":"10.1109/CGNCC.2016.7828956","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828956","url":null,"abstract":"To improve the accuracy and the robustness of the image based target localization for the small unmanned aerial vehicle (UAV), a maximum likelihood estimation (MLE) approach is proposed. A Monte Carlo method is used for estimating the error information of the tradition localization method. After retrieving the distribution parameters from the Monte Carlo simulations, the maximum likelihood estimation is then applied to acquire the final estimation result based on two traditional localization measurement results. Flying tests show that the MLE method could achieve a better result than the traditional method and a significant improvement on the robustness.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116035945","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828846
Li Bo, Zhang Shengbing, Wang Liang
According to researching automatizition and intelligence of UAV, this paper proposed a new strategy about UAV autonomous flight with video guidance. The design and realization with Vxworks operating system is introduced. By the semi physical simulation and flight experiment, the results show that the UAV flight strategy with video guidance and the embedded software design can enhance the automatizition of UAV tracking target effectively, which could improve the intelligence level of UAV.
{"title":"Design and realization of control strategy for UAV autonomous flight based on video guidance technology","authors":"Li Bo, Zhang Shengbing, Wang Liang","doi":"10.1109/CGNCC.2016.7828846","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828846","url":null,"abstract":"According to researching automatizition and intelligence of UAV, this paper proposed a new strategy about UAV autonomous flight with video guidance. The design and realization with Vxworks operating system is introduced. By the semi physical simulation and flight experiment, the results show that the UAV flight strategy with video guidance and the embedded software design can enhance the automatizition of UAV tracking target effectively, which could improve the intelligence level of UAV.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121684771","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828853
Jinhui Rao, Honglei An, Taihui Zhang, Yangzhen Chen, Hongxu Ma
Due to the strongly environmental adaptation, quadruped robot becomes a research hot spot. The single leg control lays foundation for the control of quadruped robot. The operational space control which is used in the quadruped robot single leg control algorithms usually strongly depends on the accuracy of the model. This paper applies RBF (radial basis function) neural network adaptive control on the single leg, and a kind of control parameters adjustment method which is based on reinforcement learning is proposed. The result shows the algorithm effectively improves the control accuracy and convergence speed under the high-dynamic condition.
{"title":"Single leg operational space control of quadruped robot based on reinforcement learning","authors":"Jinhui Rao, Honglei An, Taihui Zhang, Yangzhen Chen, Hongxu Ma","doi":"10.1109/CGNCC.2016.7828853","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828853","url":null,"abstract":"Due to the strongly environmental adaptation, quadruped robot becomes a research hot spot. The single leg control lays foundation for the control of quadruped robot. The operational space control which is used in the quadruped robot single leg control algorithms usually strongly depends on the accuracy of the model. This paper applies RBF (radial basis function) neural network adaptive control on the single leg, and a kind of control parameters adjustment method which is based on reinforcement learning is proposed. The result shows the algorithm effectively improves the control accuracy and convergence speed under the high-dynamic condition.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121726371","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828799
W. Yanan, Zhang Ran, Li Huifeng
The vehicle is expected to impact the target with high precision of position and direction while all the constraints are satisfied. First an optimal control model for terminal flight dynamics is formulated and the multi-shooting method is employed to obtain numerical optimal solutions. Based on the optimal solutions, a practical flight strategy is proposed to design the terminal guidance law. The guidance law is on the basis of a proportional navigation (PN) form and the resulting PN parameters are seriously selected to mimic the proposed flight strategy. To enhance the guidance performance, an on-line correction algorithm of guidance parameters is devised to eliminate the adverse effect caused by the lag-free assumption and a critical parameter for entry strategy is designed to guarantee the trajectory convergence. Simulation results show that a high precision terminal impact can be achieved and the trajectory is consistent with the optimization results.
{"title":"Terminal guidance with impact angle constraint based on a practical flight strategy","authors":"W. Yanan, Zhang Ran, Li Huifeng","doi":"10.1109/CGNCC.2016.7828799","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828799","url":null,"abstract":"The vehicle is expected to impact the target with high precision of position and direction while all the constraints are satisfied. First an optimal control model for terminal flight dynamics is formulated and the multi-shooting method is employed to obtain numerical optimal solutions. Based on the optimal solutions, a practical flight strategy is proposed to design the terminal guidance law. The guidance law is on the basis of a proportional navigation (PN) form and the resulting PN parameters are seriously selected to mimic the proposed flight strategy. To enhance the guidance performance, an on-line correction algorithm of guidance parameters is devised to eliminate the adverse effect caused by the lag-free assumption and a critical parameter for entry strategy is designed to guarantee the trajectory convergence. Simulation results show that a high precision terminal impact can be achieved and the trajectory is consistent with the optimization results.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122688214","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7828913
Yuecheng Liu, Yongjia Zhao
Unmanned aerial vehicle (UAV) path planning is an important preliminary step in UAV mission planning. Artificial potential field (APF) UAV path planning method is often employed to build an intuitive model which is updated by the additional forces pushing the trajectory away from threats of non-cooperative objects and toward the predefined target. However, APF has its own weaknesses, one of which is the local minima close to concave obstacles. To tackle situation mentioned above, we propose a novel additional force model based on virtual waypoints. This model provides additional forces for candidate planning points falling into local minimum area and help them escape from local minimum area. Once the candidate is trapped in minimum area, firstly we calculate measure factor according to the planning area containing current candidate and the target point, and thus determine position of the virtual waypoint. Then the virtual waypoint generates additional control force so that the candidate can run away from the local minimum area. Finally, the simulation results show that the method can solve the local minimum problem in planning space.
{"title":"A virtual-waypoint based artificial potential field method for UAV path planning","authors":"Yuecheng Liu, Yongjia Zhao","doi":"10.1109/CGNCC.2016.7828913","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7828913","url":null,"abstract":"Unmanned aerial vehicle (UAV) path planning is an important preliminary step in UAV mission planning. Artificial potential field (APF) UAV path planning method is often employed to build an intuitive model which is updated by the additional forces pushing the trajectory away from threats of non-cooperative objects and toward the predefined target. However, APF has its own weaknesses, one of which is the local minima close to concave obstacles. To tackle situation mentioned above, we propose a novel additional force model based on virtual waypoints. This model provides additional forces for candidate planning points falling into local minimum area and help them escape from local minimum area. Once the candidate is trapped in minimum area, firstly we calculate measure factor according to the planning area containing current candidate and the target point, and thus determine position of the virtual waypoint. Then the virtual waypoint generates additional control force so that the candidate can run away from the local minimum area. Finally, the simulation results show that the method can solve the local minimum problem in planning space.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131150363","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 : 2016-08-01DOI: 10.1109/CGNCC.2016.7829100
Hanchen Lu, Xiaodong Zhou, Rui Li
A new solution is proposed for the Real-time control of a 7-DOF (Degree Of Freedom) redundant manipulator by taking advantage of its inverse kinematics. The iterative optimization method is used to reduce the amount of calculating while ensuring its precision. In order to complete the manipulator's trajectory planning in Cartesian space, the quintic polynomial interpolation algorithm is established. Finally, the hardware platform as well as the control system for the manipulator is designed. The effectiveness of the trajectory planning method is verified by the analyzing the simulation results. It shows that the algorithm improves the efficiency of the inverse calculating obviously, which also enhance real-time performance of the system. Meanwhile, it meets the requirements for the speed and interpolation precision of the manipulator's performance.
{"title":"An optimization algorithm for trajectory planning of a 7-DOF redundant manipulator","authors":"Hanchen Lu, Xiaodong Zhou, Rui Li","doi":"10.1109/CGNCC.2016.7829100","DOIUrl":"https://doi.org/10.1109/CGNCC.2016.7829100","url":null,"abstract":"A new solution is proposed for the Real-time control of a 7-DOF (Degree Of Freedom) redundant manipulator by taking advantage of its inverse kinematics. The iterative optimization method is used to reduce the amount of calculating while ensuring its precision. In order to complete the manipulator's trajectory planning in Cartesian space, the quintic polynomial interpolation algorithm is established. Finally, the hardware platform as well as the control system for the manipulator is designed. The effectiveness of the trajectory planning method is verified by the analyzing the simulation results. It shows that the algorithm improves the efficiency of the inverse calculating obviously, which also enhance real-time performance of the system. Meanwhile, it meets the requirements for the speed and interpolation precision of the manipulator's performance.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131290854","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：