Pub Date : 2021-03-01DOI: 10.11591/IJRA.V10I1.PP59-67
G. Dai, Xu Jiajing, Shujin Li, Li Xiongwei, G. Shi, Shi Weicheng
Finite element method is an efficient numerical calculation method based on information technology, which can be used to solve complex equations in various problems. At present, the finite element method is mainly used to deal with seepage problems in dams, while there is less study on seepage in landfill. In this paper, finite element method is used to analyze the seepage of cut-off wall of a landfill in Jiangsu Province, and the movement of landfill leachate in cut-off wall under different conditions is simulated. The simulation results show that The cut-off wall can effectively slow down the seepage velocity of leachate; Under different conditions, the maximum gradient of the cut-off wall are 18.68 and 13.84 respectively, which conforms to Chinese national standard. Therefore, the design of cut-off wall is safe and reasonable, and filtration erosion will not occur; This simulation method combined with information technology can provide new solutions and ideas for other projects to verify safety and rationality.
{"title":"Finite element analysis on permeability of cut-off wall for landfill","authors":"G. Dai, Xu Jiajing, Shujin Li, Li Xiongwei, G. Shi, Shi Weicheng","doi":"10.11591/IJRA.V10I1.PP59-67","DOIUrl":"https://doi.org/10.11591/IJRA.V10I1.PP59-67","url":null,"abstract":"Finite element method is an efficient numerical calculation method based on information technology, which can be used to solve complex equations in various problems. At present, the finite element method is mainly used to deal with seepage problems in dams, while there is less study on seepage in landfill. In this paper, finite element method is used to analyze the seepage of cut-off wall of a landfill in Jiangsu Province, and the movement of landfill leachate in cut-off wall under different conditions is simulated. The simulation results show that The cut-off wall can effectively slow down the seepage velocity of leachate; Under different conditions, the maximum gradient of the cut-off wall are 18.68 and 13.84 respectively, which conforms to Chinese national standard. Therefore, the design of cut-off wall is safe and reasonable, and filtration erosion will not occur; This simulation method combined with information technology can provide new solutions and ideas for other projects to verify safety and rationality.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"10 1","pages":"59-67"},"PeriodicalIF":0.0,"publicationDate":"2021-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48142161","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}
A. Muhammad, Alghamdi Khloud K, Sahel Salma A, Alosaimi Samar O, Alsahaft Mashael E, Alharthi Maram A, Arif Maryam
Forest fire disasters are recently getting lots of attention due to climate change globally. Globally, climate changes are rapidly changing the fire patterns on Earth. Effective fire management requires accurate information about the fire occurrence, its spread, and impact on the environment. Prediction of fire activities in the forest guides the authorities to make optimal, efficient, and sound decisions in fire management. This paper aims to summarize recent trends in the forest fire events prediction, detection, spread rate, and mapping of the burned areas. Furthermore, fire emissions in terms of smoke also put the Earth's public health and ecological system at greater risk.
{"title":"Role of Machine Learning Algorithms in Forest Fire Management: A Literature Review","authors":"A. Muhammad, Alghamdi Khloud K, Sahel Salma A, Alosaimi Samar O, Alsahaft Mashael E, Alharthi Maram A, Arif Maryam","doi":"10.36959/673/372","DOIUrl":"https://doi.org/10.36959/673/372","url":null,"abstract":"Forest fire disasters are recently getting lots of attention due to climate change globally. Globally, climate changes are rapidly changing the fire patterns on Earth. Effective fire management requires accurate information about the fire occurrence, its spread, and impact on the environment. Prediction of fire activities in the forest guides the authorities to make optimal, efficient, and sound decisions in fire management. This paper aims to summarize recent trends in the forest fire events prediction, detection, spread rate, and mapping of the burned areas. Furthermore, fire emissions in terms of smoke also put the Earth's public health and ecological system at greater risk.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"5 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41680304","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 : 2021-01-01DOI: 10.1109/ICRA48506.2021.9561289
Junyi Wang, Yue Qi
{"title":"Camera Relocalization using Deep Point Cloud Generation and Hand-crafted Feature Refinement","authors":"Junyi Wang, Yue Qi","doi":"10.1109/ICRA48506.2021.9561289","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9561289","url":null,"abstract":"","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"2 1 1","pages":"5891-5897"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79641914","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 : 2021-01-01DOI: 10.1109/ICRA48506.2021.9560868
E. Paiva, M. Perazzo, R. Cordeiro
{"title":"Constrained Path Planning and Guidance in General Wind Fields","authors":"E. Paiva, M. Perazzo, R. Cordeiro","doi":"10.1109/ICRA48506.2021.9560868","DOIUrl":"https://doi.org/10.1109/ICRA48506.2021.9560868","url":null,"abstract":"","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"11 1","pages":"7526-7532"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76817220","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 : 2020-12-25DOI: 10.31875/2409-9694.2020.07.5
E. Carvalho, E. Freire, L. Molina, J. M. Filho
Abstract: This paper proposes a robot path planner based on language measure, μ-planner. Workspace is discretized in a occupancy grid map and we model the system by considering how events, associated to robot’s motions, take it to different cells (discrete positions). The calculated language measure values corresponds to a gradient, which the robot can use reach its destination by choosing events that take it to states with higher measure values. Concepts of Lapace’s equation and harmonic functions are used to prove that our method guarantees both the existence and monotonicity of language measure. The proposed method is simple and computationally inexpensive and guarantees existence of path from any co-accessible state to the destination. Experiments considering different scenarios have been performed to validate and compare μ-planner with similar methods.
{"title":"µ-Planner: A Robot Path Planning Approach Based on Language Measure of Unsupervised Automata","authors":"E. Carvalho, E. Freire, L. Molina, J. M. Filho","doi":"10.31875/2409-9694.2020.07.5","DOIUrl":"https://doi.org/10.31875/2409-9694.2020.07.5","url":null,"abstract":"Abstract: This paper proposes a robot path planner based on language measure, μ-planner. Workspace is discretized in a occupancy grid map and we model the system by considering how events, associated to robot’s motions, take it to different cells (discrete positions). The calculated language measure values corresponds to a gradient, which the robot can use reach its destination by choosing events that take it to states with higher measure values. Concepts of Lapace’s equation and harmonic functions are used to prove that our method guarantees both the existence and monotonicity of language measure. The proposed method is simple and computationally inexpensive and guarantees existence of path from any co-accessible state to the destination. Experiments considering different scenarios have been performed to validate and compare μ-planner with similar methods.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"7 1","pages":"40-49"},"PeriodicalIF":0.0,"publicationDate":"2020-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44009201","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 : 2020-12-01DOI: 10.11591/IJRA.V9I4.PP251-255
Hitesh Mohapatra
In this paper, an offline drone instrumentalized ambulance (ODIA) mechanism has been discussed. The rapid increase in the urban population directly influences every sector of society. The sectors are maybe food, health care, education, transportation, etc. Normally, it has been observed that when any accidents happen on the urban road or any remote places then, the availability of immediate medical help is very rare. It is not because of the unaware or unavailability of medical facilities rather it happens because of overcrowding on the urban road and geographical odd-isolation of places. Hence, here an ODIA concept has been discussed which uses offline maps and offline first-aid medical videos through which immediate medical help can be made available at the patient end. This model helps to save the life of an accident victim by providing immediate medical attention. The key strength of ODIA is, it is independent of internet service that is why it is more suitable for harsh and hostile environments.
{"title":"Offline drone instrumentalized ambulance for emergency situations","authors":"Hitesh Mohapatra","doi":"10.11591/IJRA.V9I4.PP251-255","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP251-255","url":null,"abstract":"In this paper, an offline drone instrumentalized ambulance (ODIA) mechanism has been discussed. The rapid increase in the urban population directly influences every sector of society. The sectors are maybe food, health care, education, transportation, etc. Normally, it has been observed that when any accidents happen on the urban road or any remote places then, the availability of immediate medical help is very rare. It is not because of the unaware or unavailability of medical facilities rather it happens because of overcrowding on the urban road and geographical odd-isolation of places. Hence, here an ODIA concept has been discussed which uses offline maps and offline first-aid medical videos through which immediate medical help can be made available at the patient end. This model helps to save the life of an accident victim by providing immediate medical attention. The key strength of ODIA is, it is independent of internet service that is why it is more suitable for harsh and hostile environments.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"251-255"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45567501","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 : 2020-12-01DOI: 10.11591/IJRA.V9I4.PP244-250
A. Oyelami, Adedayo Akinade, Kingsley Obianefo
This work developed a cost-effective framework for agriculturists to regularly monitor their crops against intruding rodents and other security concerns using modern drone technology through configuration and deployment of an autonomous UAV which also functions as a remotely piloted vehicle. This was done by configuring a quadcopter capable of causing a disturbance when a rodent is observed through an inbuilt alarm system whose sound is amplified to be loud enough to cause the animals to leave the farm area. A framework for real-time image and live video transmission from the farm to a designated remote base station was developed. This was achieved through programming codes that configured the drone to operate an intelligent alarm and object tracking systems which enables a live feed from the UAV using Arduino IDE and Mission Planner for autonomous flight control. The requisite algorithms were developed using the framework of tracking, learning and detection (TLD) in the OpenCV software. The drone movement is equally controlled remotely over a Wi-Fi network using an ESP8266 Wi-Fi module for redirection and controlling of the drone movement to monitor specific locations.
{"title":"Development of a real-time framework for farm monitoring using drone technology","authors":"A. Oyelami, Adedayo Akinade, Kingsley Obianefo","doi":"10.11591/IJRA.V9I4.PP244-250","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP244-250","url":null,"abstract":"This work developed a cost-effective framework for agriculturists to regularly monitor their crops against intruding rodents and other security concerns using modern drone technology through configuration and deployment of an autonomous UAV which also functions as a remotely piloted vehicle. This was done by configuring a quadcopter capable of causing a disturbance when a rodent is observed through an inbuilt alarm system whose sound is amplified to be loud enough to cause the animals to leave the farm area. A framework for real-time image and live video transmission from the farm to a designated remote base station was developed. This was achieved through programming codes that configured the drone to operate an intelligent alarm and object tracking systems which enables a live feed from the UAV using Arduino IDE and Mission Planner for autonomous flight control. The requisite algorithms were developed using the framework of tracking, learning and detection (TLD) in the OpenCV software. The drone movement is equally controlled remotely over a Wi-Fi network using an ESP8266 Wi-Fi module for redirection and controlling of the drone movement to monitor specific locations.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"244-250"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46027147","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 : 2020-12-01DOI: 10.11591/ijra.v9i4.pp300-310
T. E. Kaonain, Mohd Azizi Abdul Rahman, M. Ariff, K. Mondal
In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.
{"title":"A simulated risk assessment of human-robot interaction in the domestic environment","authors":"T. E. Kaonain, Mohd Azizi Abdul Rahman, M. Ariff, K. Mondal","doi":"10.11591/ijra.v9i4.pp300-310","DOIUrl":"https://doi.org/10.11591/ijra.v9i4.pp300-310","url":null,"abstract":"In human-robot interaction, the use of collaborative robots or cobots in many industries is of major importance to researchers in human-robot interaction (HRI). The interaction between human robot carries several challenges, the greatest being the risk of human injury. In addition to reducing the proximity between robots and humans, increased difficulty of human-robot encounters raises the likelihood of accidents only. This paper proposes a virtual collaborative robot in the simulated non-industrial workspace. The safety during human-robot interaction using simulation software was investigated by measuring the risks for planning and control. A reactive robot controller was formulated to minimize the risk during human-robot interaction. A Gazebo software is used in this article, written in Python language, to replicate complex environments that a robot can face. This paper also investigated the robot’s speed. It can be reduced before a collision with a human about to happen, and it minimized the risk of the collision or reduced the damage of the risk. After the successful simulation, this can be applied to the real robot in a practical domestic environment.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"300-310"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44507741","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 : 2020-12-01DOI: 10.11591/IJRA.V9I4.PP233-243
W. M. Martins, Antonio J. Dantas Filho, Leandro D. de Jesus, A. D. Souza, A. B. Ramos, T. Pimenta
Power transmission lines are of great importance for the operation of all sectors of society, such as commerce, industry and public agencies. To ensure reliability and availability of power supply, regular and occasional inspections are conducted, mostly using patrol with binoculars, helicopters or truck cranes. Research is being developed using unmanned aerial vehicle (UAV) to make this activity autonomous, faster, safer, and less costly. The present work aims to analyze research related to the autonomous control of the UAV along the transmission lines through a systematic review of the literature (SRL), apply a viable solution and to verify the possible lacuna in this state of the art. Improvements in safety, computational process and energy efficiency with low-cost were identified. The results presented can help the research community to perform the working this state of art, from the suggestions of autonomous tracking of transmission lines.
{"title":"Tracking for inspection in energy transmission power lines using unmanned aerial vehicles: a systematic review of current and specific literature","authors":"W. M. Martins, Antonio J. Dantas Filho, Leandro D. de Jesus, A. D. Souza, A. B. Ramos, T. Pimenta","doi":"10.11591/IJRA.V9I4.PP233-243","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP233-243","url":null,"abstract":"Power transmission lines are of great importance for the operation of all sectors of society, such as commerce, industry and public agencies. To ensure reliability and availability of power supply, regular and occasional inspections are conducted, mostly using patrol with binoculars, helicopters or truck cranes. Research is being developed using unmanned aerial vehicle (UAV) to make this activity autonomous, faster, safer, and less costly. The present work aims to analyze research related to the autonomous control of the UAV along the transmission lines through a systematic review of the literature (SRL), apply a viable solution and to verify the possible lacuna in this state of the art. Improvements in safety, computational process and energy efficiency with low-cost were identified. The results presented can help the research community to perform the working this state of art, from the suggestions of autonomous tracking of transmission lines.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"233-243"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49402347","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 : 2020-12-01DOI: 10.11591/IJRA.V9I4.PP256-270
A. Moshayedi, Mahyar Gheibollahi, Liefa Liao
In the last decade, because of the unique specification of vertical fliers, scientists and researchers had a special focus on them. The particular abilities of these fliers can be mentioned such as: high maneuver ability, low expenses, decrease in radar identifier and low threat for the human life. They also have no limitation in dimension. Moreover, because of some applications like photography, topography, news coverage, study of power lines and aerology analysis, they can be notable for using. These fliers also are significantly important because of monitoring in urban regions, agricultural harvest and spray poison, illegal imports, exports administration and fire distinction in order to control the fire. Besides, seek and rescue missing people and also natural disasters can be pre-determined which causes stimulus investigators to act and put different topics in front of them. One of these fields is using meta-heuristic algorithms with the capability of using in control systems. The PID controller as a classic model has some limitations, but by optimization of special index through meta-heuristic algorithms, it has shown acceptable results. In this study, first, the history of vertical fliers and quadrotor are investigated. Then, after a review of overused methods, the quadrotor control has been done. Afterward, the cinematic and dynamic of quadrotor is presented. Next by designing of PID controller, PID index optimization by nature inspired algorithm, particle swarm optimization (PSO), genetic algorithms (GA), and firefly algorithms (FA) have been studied. Dynamic system, controller and mentioned optimization methods of PID controller index have also been implemented in MATLAB software. Also, with due attention to the comparison criteria the PID-PSO controller has shown the best performance. Next, by applying challenging routes, the stability of controller in the simulation is evaluated. Then, making quadrotor is done in practice along with introducing the used implementation of PID-PSO controller results on the real robot, and its stability is evaluated practically.
{"title":"The quadrotor dynamic modeling and study of meta-heuristic algorithms performance on optimization of PID controller index to control angles and tracking the route","authors":"A. Moshayedi, Mahyar Gheibollahi, Liefa Liao","doi":"10.11591/IJRA.V9I4.PP256-270","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP256-270","url":null,"abstract":"In the last decade, because of the unique specification of vertical fliers, scientists and researchers had a special focus on them. The particular abilities of these fliers can be mentioned such as: high maneuver ability, low expenses, decrease in radar identifier and low threat for the human life. They also have no limitation in dimension. Moreover, because of some applications like photography, topography, news coverage, study of power lines and aerology analysis, they can be notable for using. These fliers also are significantly important because of monitoring in urban regions, agricultural harvest and spray poison, illegal imports, exports administration and fire distinction in order to control the fire. Besides, seek and rescue missing people and also natural disasters can be pre-determined which causes stimulus investigators to act and put different topics in front of them. One of these fields is using meta-heuristic algorithms with the capability of using in control systems. The PID controller as a classic model has some limitations, but by optimization of special index through meta-heuristic algorithms, it has shown acceptable results. In this study, first, the history of vertical fliers and quadrotor are investigated. Then, after a review of overused methods, the quadrotor control has been done. Afterward, the cinematic and dynamic of quadrotor is presented. Next by designing of PID controller, PID index optimization by nature inspired algorithm, particle swarm optimization (PSO), genetic algorithms (GA), and firefly algorithms (FA) have been studied. Dynamic system, controller and mentioned optimization methods of PID controller index have also been implemented in MATLAB software. Also, with due attention to the comparison criteria the PID-PSO controller has shown the best performance. Next, by applying challenging routes, the stability of controller in the simulation is evaluated. Then, making quadrotor is done in practice along with introducing the used implementation of PID-PSO controller results on the real robot, and its stability is evaluated practically.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"256-270"},"PeriodicalIF":0.0,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45902189","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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