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The 7th IARC (international aerial robot competition) focus on a long-term and real-time tracking of ground moving target for UAV (unmanned aerial vehicle). This paper proposes a tracking method using Camshift algorithm with color and edge features fusion, which will apply a Phash target detection algorithm basing on perceptual hash algorithm. Supposing targets are severely obscured or disappear from...
This paper considers problem of localization for an aerial robot in unstructured indoor environments. A vision correction method based on linear characteristics is proposed. The dynamic model is established using an optical flow sensor. Use a strap-down camera to capture the frame of perpendicular line on the ground, and calculate the global position of their intersection point. As an observation,...
To improve the flight stability of quadrotor unmanned air vehicles (UAVs) flight control problem, a stability augmentation controller design approach is presented under parameter variations and external disturbances. The controller is made of two parts: an inner-loop attitude controller and an outer-loop position controller. The inner-loop attitude controller is designed with backstepping algorithm...
Continuum robot has potential to run freely through a cluttered environment as aircraft fuel tank. To improve manual maintenance, we designed an aircraft fuel tank inspection robot which was composed of cable-driven sections. A suitable path is essential for the robot to reach the target zone while avoiding obstacles, but path planning for continuum robot is a challenge due to their complex kinematics...
The design of a flight controller not only stabilizes attitude angle, but also tracks a trajectory accurately. For a quadrotor unmanned aerial vehicle (UAV) in presence of parametric uncertainties and external disturbances is more challenging. A hybrid control method based on backstepping and fuzzy adaptive PID is proposed, which improves the flight stability of quadrotor aircraft in different conditions...
According to the problem that the traditional map-building method has high complexity, a map-matching method based on the combination of normal distribution transform (NDT) and environment feature extraction is proposed. The real-time environment information is obtained by two dimension laser sensors, from which the geometric feature is extracted and it will be transformed into normal distribution...
To the breakage warning problem of grid fence, a grid breakage detection algorithm based on improved Harris corner is proposed. As traditional Harris corner extraction algorithm is very time-consuming, the parameter of gray “similarity” is introduced to demonstrate the gray similarity between pixel and its ambient pixels, through which to filter pseudo corners, reducing the Harris corner extraction...
The optimization algorithm of nonlinear controller based on cubic Bezier curve is presented. The nonholonomic mobile robot is stabilized to a desired pose, and the real-time planning and motion control is realized at the same time curvaturepsilas changing minimization is introduced to evaluate the Bezier curve. Using the penalty function method the problem of nonlinear constrained optimization is...
A novel method based on fuzzy federal Kalman filtering is presented, which is mainly used to improve the reliability of the airport automatic docking guidance system when measure values of sensors are fluctuated. If the measure values are fluctuated, the state vector covariance of each local filtering is modified by using the fuzzy inference system (FIS) to modify the weight of each fusion data online...
This paper addresses the navigation problem of robot vehicle, Patrol-security Robot, on unstructured roads with degraded surfaces and edges, strong shadows and no lane markings. These conditions cause many road-following systems failed because the road feature extraction is not easy and the detection effect becomes inaccuracy. For solving the problem of the feature extraction of the complex unstructured...
A recognition algorithm on magneto-optic image of surface & subsurface defects in aging aircraft is proposed in this paper. The star vector method is adopted to extract the defect feature of rivet's profile in aircraft skin. And the extracted features of rivet's profile in aircraft skin are used as training samples to train the support vector classifier machine (SVCM) and produce a super defect...
In order to find a good solution to one of the key problems in Q-learning algorithm - keeping the balance between exploration and exploitation, an improved Q-learning algorithm based on exploration region expansion strategy is proposed on the base of Metropolis criterion-based Q-learning. With this strategy, the exploration blindness in the entire environment is eliminated, and the learning efficiency...
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